3 papers
cs.RO2026
Compositional Shift Algebra: Extrapolating Mixed Robot Shifts Without Mixed Finetuning
Jinting Hang, Zhenhui Cai
Robot deployments rarely change one mechanism at a time: cameras, action interfaces, and physical dynamics often shift together. Prior adaptation recipes either finetune a new mode…
cs.RO2026
Identifying Habit, Physics, and Nuisance in Robot World Models
Jinting Hang, Zhenhui Cai
Teleoperated demonstrations are often multimodal even when the underlying dynamics are nearly deterministic given the executed action. We argue that this multimodality typically mi…
cs.RO2026
Physical Kernel: Structured Visual Latents for Dark Manipulation
Jinting Hang, Hong Li, Zhenhui Cai +2
We study dark manipulation: after a brief lit Write encodes z0 = Enc(rgb), a policy pi(z) and open-loop dynamics f(z,a) complete contact-rich skills without further pixels (dark_f)…