Author

Jiafei Duan

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Preprint Sep 2026

Grounded Action Model: 3D Grounding as a Foundation for Robotics

Manipulation policies must know which objects matter and where they are, yet the pretrained backbones that current robot foundation models build on, from language in vision-language-action models (VLAs) to video generation in world-action models (WAMs), do not directly require this metric grounding, leaving it to be le...

Ge-Hao Zhang, Weikai Huang, S. Shailesh et al. · 0 citations

Preprint Sep 2026

Breaking the Vision-Action Shortcut: Latent Interface Training for Generalizable Robotics Foundation Models

Latent Interface Training (LIT), a framework-agnostic two-stage strategy that first establishes a spatial-goal-conditioned action prior without images, then constrains visual conditioning through a pose-supervised latent interface, improves overall LIBERO-Plus success while preserving or improving average LIBERO succes...

Jian-Man Lin, S. Shailesh, Zhong-Yi Luo et al. · 1 citation