Author

Da-Quan Zhou

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Preprint Oct 2026

USDCraft: Geometrically Grounded Programmatic Modeling of Articulated 3D Assets for Simulation

Geometrically faithful and functional articulated 3D assets are essential for real-to-sim robot manipulation, where policies trained in simulation must transfer to physical objects. Recent mesh-based methods learn to infer articulation from annotated 3D assets, but deployment remains challenging when real-world objects...

Chuan-Rui Zhang, Zai-Jia Yang, Duo-Min Wang et al. · 0 citations

Preprint Oct 2026

Rethinking World-Action Model for Compositional and In-Context Robotic Manipulation

Long-horizon compositional manipulation has become increasingly important for real-world robot deployment, where a single task involves multiple coordinated subtasks. Existing world-action models (WAMs) jointly predict short-horizon visual futures and actions, but typically lack explicit subtask-level reasoning. We pro...

Shu-Kai Gong, Xuan-Ran Zhai, Yintianrun Zhang et al. · 0 citations