Author

Jinxuan Lu

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Preprint Sep 2026

MM-ABC: Towards Generalist Mobile Manipulation via Seeing, Coordinating and Imagining

Mobile manipulation extends robot interaction beyond a fixed kinematic workspace by making the reachable region itself controllable. This flexibility introduces two central challenges: spatially grounded perception under continuous ego-motion and coordinated control of heterogeneous arm and base actions. Existing appro...

Qi-Wei Liang, Guang-Yu Chen, Shao-Long Zhu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

TouchSight: Bare-Handed Tactile Prediction from Egocentric Video via Generative Visual Augmentation

Tactile signals provide direct contact and force measurements that are essential for understanding physical interactions and enabling dexterous robotic manipulation. However, tactile sensing requires direct measurement at contact interfaces, making large-scale data collection reliant on intrusive, costly, and restricti...

Dan-Yan Zhou, Jin-Xuan Lu, Jia-Wei Lin et al. · 0 citations

Preprint Aug 2026

Is Forward Prediction Enough? Physical State Grounding for JEPA World Models

PSG-JEPA is proposed, a physically grounded JEPA world model that shapes its latent space with two complementary grounding objectives beyond forward prediction: grounding individual latents in robot proprioceptive state, and grounding latent pairs in multi-horizon joint-angle changes.

Hao-Dong Yan, Jia-Guang Zhu, Ming-Ming Jia et al. · 6 citations · ⚡1