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cs.RO2026
Predicted Futures Are Not Enough: Learning Executable Goals for Robot Manipulation
Tzu-Yu Chuang, Ching-Hsiang Chang, Yi-Hsiu Lee +3
Generative world models provide rich predictions of how manipulation scenes may evolve toward task objectives, yet those futures do not directly expose the compact task variables r…
cs.RO2026
The Lie We Tell: Correcting the Euclidean Fallacy in Vision Language Action Policies via Score Matching on Tangent Space
Bing-Cheng Chuang, I-Hsuan Chu, Bor-Jiun Lin +3
Diffusion-based Vision-Language-Action policies achieve remarkable success in robotic manipulation, yet commit a fundamental geometric error we term the $\textbf{Euclidean Fallacy}…