4 papers
MaskHarness-WAM: Instance-Grounded Harnessing for Long-Horizon Robot Manipulation
Zitai Huang, Taiyi Su, Jian Zhu +6
Long-horizon robot manipulation requires not only stable local visuomotor control, but also continuous target tracking and reliable task progress assessment throughout execution. T…
JEPA-WAM: Connecting Generated Visual Instructions to World Action Models through JEPA Latent Representations
Tianbin Liu, Jian Zhu, Taiyi Su +4
World Action Models (WAMs) have demonstrated strong robotic manipulation capabilities by augmenting pretrained video generative models with action experts. However, current WAMs st…
DSWAM: A Dual-System World Action Foundation Model for Fine-Grained Robot Manipulation
Jian Zhu, Jianjun Zhang, Taiyi Su +10
World Action Models (WAMs) provide a promising alternative to Vision-Language-Action (VLA) policies by using video-based world modeling as dense supervision for robot action learni…
DeMaVLA: A Vision-Language-Action Foundation Model for Generalizable Deformable Manipulation
Taiyi Su, Jian Zhu, Tianjian Wang +9
Real-world household robots require Vision-Language-Action (VLA) foundation models that can acquire reusable manipulation skills across diverse objects, task conditions, and househ…