5 papers
VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation
Yutian Zhang, Xingrui Xiong, Siyuan Ma +12
Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB…
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…
Atomic Motion Coordinate for Language-Steerable and Force-Responsive Manipulation
Jiaqi Zhai, Jingkai Zhao, Chen Yang +10
Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven motion prior dominate? We present Atomic Motion Coordinate, a geometry-…
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…
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…