Author

Guang-Yu Chen

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Preprint Sep 2026

MM-ABC: Towards Generalist Mobile Manipulation via Seeing, Coordinating and Imagining

This work pretrain MM-ABC, a foundation model built around Seeing, Coordinating, and Imagining Arm-Base Collaboration, which combines sparse multi-level VLM features for spatial perception; a training-only future branch that uses world imagination and geometric intent as extra supervision, strengthening perception and...

Qi-Wei Liang, Guang-Yu Chen, Shao-Long Zhu et al. · 0 citations

Preprint Sep 2026

MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment

MoPA is presented, a framework that aligns perceptual conditioning with mobility and manipulation while preserving coordination at the action level, and achieves state-of-the-art performance across all three task suites.

Guang-Yu Chen, Qi-Wei Liang, Shao-Long Zhu et al. · 3 citations

Preprint Aug 2026

XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment

Xpolicylab is released as shared infrastructure for reproducible policy comparison and standardized deployment across simulation and physical platforms for reproducible policy comparison and standardized deployment across simulation and physical platforms.

XPolicyLab Community, Tian-Xing Chen, Yue Chen et al. · 6 citations · ⚡1