3 papers
cs.RO2026
Keep the Future, Drop the Rollout: RIFT for World Action Models
Chushan Zhang, Jinguang Tong, Xuesong Li +2
World action models (WAMs) condition robot actions on predicted futures, but iterative video rollout increases deployment latency. We ask whether action generation requires the evo…
cs.RO2026
EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control
Chushan Zhang, Ruihan Lu, Jinguang Tong +3
Chunked vision-language-action (VLA) policies predict multi-step robot controls, conditioning each update on the current visual observation alone. Yet robot actions cause contact,…
cs.CV2026
3D-IDE: 3D Implicit Depth Emergent
Chushan Zhang, Ruihan Lu, Jinguang Tong +2
Leveraging 3D information within Multimodal Large Language Models (MLLMs) has recently shown significant advantages for indoor scene understanding. However, existing methods, inclu…