Author

Heng Yang

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Preprint Oct 2026

Can a Frontier VLM Serve as a Robot Policy for Memory-Dependent Manipulation?

We use a frozen frontier vision-language model, GPT-6-Astra, directly as the robot policy on RoboMME, a benchmark of 16 memory-dependent manipulation tasks spanning temporal, spatial, object, and procedural memory. The model keeps the whole episode in context and outputs every end-effector waypoint and gripper command,...

Jack B. Jedlicki, Amish Sethi, Heng Yang · 0 citations

Preprint Sep 2026

RoboMP-DINOv2: Prompts, Not Filters for Robust Robot Manipulation

Robot manipulation policies must generalize across visual shifts while preserving scene context relevant to action. General-purpose vision encoders are not tailored to visuomotor control, while object-centric approaches often use segmentation masks as hard filters that discard potentially useful context. We propose Rob...

Han Qi, Heng Yang · 0 citations