Author

Dong-Bin Zhao

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Preprint Sep 2026

GIFT: Guided Intermediate Feature Training via Action-Oriented Structural Supervision for Robotic Manipulation

Vision-language pre-training and predictive world modeling provide robot policies with rich semantic and dynamic visual features, but their native action and visual-prediction objectives may omit critical physical and task structure while retaining control-irrelevant visual redundancy. We call this mismatch between vis...

Yu-Peng Zheng, Xiang Li, Song-En Gu et al. · 2 citations

Jul 2026

WALA Learning Executable Latent Actions from Action-Labeled Demonstrations and Action-Free Videos

WALA, a framework for learning executable latent actions from both action-labeled demonstrations and action-free videos, achieves strong performance on RoboTwin, sets a new state-of-the-art result on RoboCasa, and improves both policy performance and generalization in real-world manipulation tasks.

Jia-Hao Liu, Zhongpu Xia, Shuai Tian et al. · arXiv.org · 1 citation