Author

Fu-Gui Fan

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Preprint Oct 2026

AdaPolicy: Action-Driven Anticipatory Robot Policies via Next-Chunk Prediction

Endowing robot policies with anticipatory capabilities has proven effective in improving control performance. However, existing methods predominantly rely on explicit supervision derived from future observations, in either pixel or latent space, at the cost of additional architectural and computational complexity. Depa...

Fan Yang, Yu-Ting Su, Cheng-Zhi Zhao et al. · 0 citations

Preprint Aug 2026

LiLa-WAM: Lightweight Latent Reasoning World-Action Model for Robotic Manipulation

LiLa-WAM is proposed, a lightweight world-action model that reasons about the future in a compact latent space and can be trained end-to-end on a single 24GB GPU and the Visual Transition Token (VTT), a language-free task representation that encodes each task as a direction in visual feature space.

Fan Yang, Yu-Ting Su, Xiaobo Wang et al. · 9 citations