6 papers
Quaternionic Elasticity Theory with Local Fractional Derivatives
Hung Manh Nguyen, Juan Bory-Reyes
We develop a quaternionic formulation of linear elasticity in which the classical derivative is replaced by Yang's local fractional derivative and the classical Cauchy--Riemann ope…
Conditional Trajectory Peaks: Single-Pass Multimodal Policies over Action Chunks
Di Wu, Rongtian Shen, Ping Liu +4
Multimodal imitation learning requires diverse executable futures under the same observation and consistent behavior across replanning cycles. We present Conditional Trajectory Pea…
Execution-Aligned Progressive Noise for Consistent Asynchronous Replanning in Generative Robot Policies
Di Wu, Ping Liu, Xuhua Chen +3
Continuous asynchronous replanning is essential for real-time generative robot policies, but independent stochastic initialization can cause mode switching and inconsistent continu…
Magic-W0: A Structured World-Action Foundation Model for Physical Intelligence
Xuhua Chen, Zhenhan Yin, Yuan Zhang +15
World-action models (WAMs) augment robot policies with action-conditioned environment dynamics, yet existing approaches largely rely on future observation reconstruction or generic…
ForgeDrive: Bidirectional Cross-Conditioning for Unified Visual-Action Generation in Autonomous Driving
Xuchang Zhong, He Zheng, Chenxu Zhao +9
World-model-based autonomous driving endows the model with the ability to understand scene evolution. Yet this promise is undermined by the prevailing imagine-then-act paradigm, wh…
PerceptDrive: Perception Prior World-Action Modeling with Adaptive Expert Routing for End-to-End Autonomous Driving
Yushan Liu, Tianxiong Lv, Bohua Wang +11
Frozen perception foundation models encode rich geometric, semantic, and dynamic knowledge. Yet narrow conditioning interfaces may attenuate task-relevant cues, while static fusion…