Author

Shuicheng Yan

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Preprint Oct 2026

Contact Trajectory Prompting: In-Context Transfer of Contact-Rich Behaviors from a Single Demonstration

In-context robot learning enables robots to acquire new behaviors from demonstrations without test-time parameter updates. However, visual and kinematic specifications alone may not distinguish contact-rich behaviors that share similar motions but require different interaction intensities or patterns. We propose Contac...

Xiang-Li Nie, Yujie Zang, Yu-Hang Zheng et al. · 0 citations

Preprint Sep 2026

GIFT: Guided Intermediate Feature Training via Action-Oriented Structural Supervision for Robotic Manipulation

GIFT (Guided Intermediate Feature Training), an architecture-flexible framework for learning intermediate features that translates these structures into training-time constraints through geometry alignment, affordance prediction, and goal-region reconstruction, establishes learning functionally structured intermediate...

Yu-Peng Zheng, Xiang Li, Song-En Gu et al. · 2 citations

Preprint Jul 2026

Dual Latent Memory in Vision-Language-Action Models for Robotic Manipulation

LaMem-VLA is introduced, a latent-memory-native framework that reconstructs historical experience into latent memory tokens and directly interweaves them with VLA reasoning, and enables memory to directly participate in VLA reasoning and guide action generation under a bounded context.

Hongyu Qu, Jianzhe Gao, Xiaobin Hu et al. · 1 citation