Author

Hanwen Wan

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Preprint Aug 2026

CometVLA: Co-Training on an Embodied Data Pyramid towards Physical Understanding

Results demonstrate that physical understanding pre-training genuinely benefits downstream manipulation inVision-language-action models, and introduce GAP tokens, a compact learnable bottleneck that isolates task-agnostic motion regularities and lets the action head consume physical commonsense without corrupting the p...

Hanwen Wan, Dafeng Chi, Lin-Bo Zhai et al. · 1 citation

Preprint Aug 2026

ResemBrick: Brick Reconstruction from Photographs with Perceptual Fidelity and Buildability

Under a matched budget, ResemBrick surpasses existing voxel selectors in perceptual fidelity while uniquely reaching zero floating and zero unstable bricks on unfiltered held-out objects; as a complete pipeline, it attains the best perceptual fidelity among prior brick-construction systems.

Xilun Chen, Hanwen Wan, Yu-Song Zhao et al. · 1 citation