5 papers · 1 filter
DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement
Yixin Zheng, Jiangran Lyu, Yuntian Deng +6
World Action Models (WAMs) jointly generate robot actions and predict future world states, transferring priors from video pretraining to robot control. However, future visual predi…
WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time
Yusen Feng, Bingchen Han, Jiangran Lyu +13
Steering robot foundation models (RFMs) toward new task variants or user-preferred behaviors remains challenging, often requiring additional robot demonstrations, task-specific fin…
Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning
Yixin Zheng, Jiangran Lyu, Yifan Zhang +8
Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challengin…
LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion
Jiangran Lyu, Kai Liu, Xuheng Zhang +20
Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous em…
StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision
Shengliang Deng, Mi Yan, Yixin Zheng +7
While Vision-Language-Action (VLA) models excel in generalist manipulation, they often lack fine-grained spatial awareness and show limited viewpoint robustness. This limitation la…