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cs.RO2026
GIFT: Guided Intermediate Feature Training via Action-Oriented Structural Supervision for Robotic Manipulation
Yupeng Zheng, Xiang Li, Songen Gu +11
Vision-language pre-training and predictive world modeling provide robot policies with rich semantic and dynamic visual features, but their native action and visual-prediction obje…
cs.RO2026
WALA Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos
Jiahao Liu, Zhongpu Xia, Shuai Tian +13
Generalizable robot policies typically rely on action-labeled robot demonstrations, which are expensive to collect and difficult to scale. In contrast, large-scale human and robot…