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cs.RO2026
KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos
Zhiyuan Gao, Yanxiang Zhan, Mohammad Khoshnazar +2
Learning robot manipulation policies typically requires substantial demonstration data, which are costly to collect on real robots. Recent methods generate robot demonstrations fro…
cs.RO2026
FOCAL-VLA: Subtask-Guided Geometry Distillation and Implicit World Modeling for Vision-Language-Action Models
Zhiyuan Gao, Di Wen, Yanxiang Zhan +4
Vision-language-action (VLA) models built on pretrained vision-language models have demonstrated strong performance across diverse robotic manipulation tasks. However, VLA models t…