Author

Hao Liu

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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

#artificial intelligence Preprint Sep 2026

Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models

Time-Frequency Geometric Cross-Attention (TFGCA), a drop-in module repairing both blind spots in vision-language-action policies, uses a per-dimension learnable stationary wavelet transform to decompose the action chunk into time-frequency tokens, and each time token retrieves information from them via a cross-attentio...

Sheng-Ye Dong, Hao-Chen Niu, Hao Liu et al. · 0 citations