Author

Yan-Kai Fu

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Preprint Oct 2026

Large Multimodal Models for Direct Robot Control: GPT-6 as a Beginning

Recent advances in visuospatial understanding and agentic reasoning enable direct robotic manipulation with general-purpose multimodal models, but their embodied capabilities remain poorly understood. This paper systematically evaluate GPT-6 Astra for closed-loop robotic manipulation using a lightweight agent execution...

You-Wei Zhou, Bo-Han Hou, Yan-Kai Fu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

DeCAL is presented, a physically-grounded dexterous vision-language-action model that unifies understanding, imagination and action generation for contact-rich dexterous manipulation and introduces Adaptive Visuo-Tactile Fusion that dynamically regulates tactile interactions via a contact-aware gating strategy.

Yan-Kai Fu, Ning Chen, Jun-Kai Zhao et al. · 0 citations

Jul 2026

Data Pyramid for Embodied Manipulation

This work organizes the embodied data ecosystem as a pyramidspanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelit...

Yifan Ye, Yankai Fu, Ya-hui Lv et al. · arXiv.org · 4 citations