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cs.RO2026
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…
cs.RO2026
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…