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cs.RO2026
DepState-JEPA: Learning Depth-Grounded State Representation for Visual Perception and Manipulation
Xiujian Liang, Liuyuan Na, Zehao Du +6
Predictive representations for robot manipulation should connect scene geometry with the state changes induced by actions. Our intuition is that understanding what an action will c…
cs.RO2026
Refine Actions If Needed: Adaptive Action Chunk Refinement for Robot Manipulation
Hanlin Liu, Zichen Zhou, Jiacheng Zhang +6
Computationally lightweight manipulation policies predict executable actions with low inference latency, but prediction errors can limit task success. Iterative generative policies…