Author

Ming-Qi Yuan

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#artificial intelligence Preprint Sep 2026

HiWE: Hierarchical World Knowledge Model with Visual Keypoint Enhancement for Zero-Shot 3D Path Planning

Robot demonstration generation requires a system to identify where an interaction should occur, plan a feasible motion, and execute the required contact. HiWE connects these decisions through a point-based interface between visual grounding and language-based planning. PointVLM is instruction-tuned to associate task-re...

Guo-Qing Ma, Ming-Qi Yuan, Chen Gao et al. · 0 citations

#small language model Preprint Sep 2026

FAN: Foresight Action Normalization for Continual Adaptation of Vision-Language-Action Models

FAN is introduced, which achieves the highest performance and demonstrates consistent robustness, providing insightful guidance for building stable action representations in achieving effective lifelong VLA adaptation.

Yi-Jun Hong, Jia-Run Zhu, Xiao-Quan Sun et al. · 0 citations

Preprint Aug 2026

Unified Condition-Action Modeling for Accurate One-Step Action Generation

This work proposes UCA-Flow, a unified condition-action modeling framework for accurate one-step action generation that unifies observation conditions, timestep conditions, interval conditions, and action tokens into a single sequence, and processes them with a Unified Condition-Action Transformer for joint condition-a...

Xin-Yu Zhou, Zikun Cai, Kuangji Zuo et al. · 0 citations