Author

Xiaojin Huang

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Preprint Aug 2026

ForeTime-VLA: Causal Future-Token Distillation from a World Action Model for Conveyor-Belt Manipulation

The agreement between offline orientation gains and reduced real-robot contact-pose failures supports causal future-token distillation as an effective way to improve dynamic manipulation without deploying the world-model teacher.

Si-Yuan Ma, Yu-Tian Zhang, Bo-Shi Zhang et al. · 2 citations