Author

Yang-Zheng Wu

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#artificial intelligence Preprint Sep 2026

Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies

Pretrained robot manipulation policies such as vision-language-action models (VLAs) or world-action models (WAMs) leave interaction-relevant metric geometry implicit. Recent breakthroughs in spatial reconstruction can supply the necessary geometry reliably, but their features describe local shape without stating where...

Ding-Sheng Liu, Yang-Zheng Wu, Mahboubeh Asadi et al. · 0 citations

Preprint Sep 2026

StageGuard: Learning Stage Transitions for Long-Horizon Robot Tasks via Agentic Distillation

Hierarchical planning frameworks combine skills from multiple robot control policies for long-horizon task execution, where determining when to terminate the current skill and advance to the next subtask is essential. Existing approaches often rely on pre-designed completion signal checkers that are hard to obtain in r...

Jinbang Huang, Yuan Hu, Zhi-Yuan Li et al. · 0 citations