3 papers
cs.RO2026
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
Yushan Liu, Peibo Sun, Xintao Chao +8
Vision-language-action (VLA) policies commonly execute long-horizon mobile manipulation through open-loop action chunks, issuing multiple actions without receiving new high-level v…
cs.RO2026
Self-Supervised Mask-Aware Transformers for Fault-Tolerant FBG Force Sensing in Minimally Invasive Surgical Robotics
Peibo Sun, Shiyuan Dong, Shucheng Ye +5
In minimally invasive surgical robotics, catheter-scale Fiber Bragg Grating (FBG) sensors are promising due to their ability to estimate multi-dimensional forces by multiplexing se…
cs.RO2026
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
Yushan Liu, Peibo Sun, Shoujie Li +7
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted wor…