Author

Jianfeng Xiang

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Preprint Sep 2026

OctWorld: Long-Range World-Consistent Video Generation with Octree-Based 3D Mapping

We present OctWorld, a video diffusion framework with persistent 3D memory for generating explorable, world-consistent, and high-fidelity visual scenes. Given a single image, OctWorld performs stable autoregressive world generation along user-specified camera trajectories. We focus on long-range generation, characteriz...

Ze-Long Lv, Si-Cheng Xu, Jianfeng Xiang et al. · 1 citation

Jul 2026

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation

FM-VLA is proposed, a VLA model with force-based memory, enabling temporal context reasoning for non-Markovian, contact-rich manipulation, and achieves over 80% success rate with minimal inference overhead, significantly outperforming baseline approaches.

Ruicheng Li, Qi-Xiu Li, Ruichun Ma et al. · arXiv.org · 1 citation