Author

Shi-Run Tang

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Preprint Sep 2026

Rethinking Visual Embodiment Dependence in Visuomotor Policies

Visuomotor policies observe both the task scene and the acting embodiment, allowing embodiment-specific visual cues to influence action prediction. We study this phenomenon as visual embodiment dependence (VED) and show, through cue-conflict interventions across representative policies, that visible robot configuration...

Hong-Jie Fang, Yu-Xing Lu, Chen-Xi Wang et al. · 0 citations

Preprint Sep 2026

HINT: Human-Intent Inception for Long-Horizon Robot Manipulation

HINT (Human-INTent INcepTion), an agentic framework inspired by the human manipulation principles: semantic intent changes sparsely at manipulation-pattern transitions, whereas continuous control primarily depends on the evolving object-hand relationship.

Ming-Yu Mei, Haojie Xu, Shi-Hao Jin et al. · 0 citations