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Tian-Yu Xin

2 papers indexed here

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#machine learning Preprint Sep 2026

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

Vision-Language-Action models and World-Action Models have advanced language-conditioned robotic manipulation, yet often leave metric relations among actions, objects, and scene geometry implicit. Human manipulation combines semantic understanding of task-relevant objects with spatial feedback that guides hand motion r...

Li-Jie Wang, Zheng Lu, Yi-Ming Wang et al. · 0 citations
#artificial intelligence Preprint Sep 2026

LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies

Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hierarchical visual-semantic representations that evolve across layers, from local visual geometry to abstract, language-aligned semantics; different manipulation tasks may...

Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al. · 2 citations

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