3 papers
cs.RO2026
Learning Whole-Body Kinetic Coordination for Wheeled-Quadruped Long-Range Throwing
Qinglian Wu, Yidian Hu, Weiqi Fan +5
Long-range throwing on unstructured terrain is a key capability for mobile robots in delivery and retrieval tasks, but it requires high release velocity, coordinated whole-body mot…
cs.AI2026
ForeTime-VLA: Causal Future-Token Distillation from a World Action Model for Conveyor-Belt Manipulation
Siyuan Ma, Yutian Zhang, Boshi Zhang +4
Manipulating moving objects requires a policy to anticipate contact events, yet vision-language-action (VLA) policies are commonly fine-tuned from the current observation alone. Wo…
cs.AI2026
DECOWAM: Decoupled Whole-Body World-Action Model for Legged Mobile Manipulation
Siyuan Ma, Boshi Zhang, Yutian Zhang +4
Mobile manipulation requires a robot to predict how locomotion and arm motion jointly alter future observations and control. Existing world-action models, developed largely for fix…