Author

Yu-Feng Yue

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Preprint Oct 2026

Refine Actions If Needed: Adaptive Action Chunk Refinement for Robot Manipulation

Computationally lightweight manipulation policies predict executable actions with low inference latency, but prediction errors can limit task success. Iterative generative policies can achieve higher task success rates, but repeated network evaluations increase inference latency. Refining action proposals from computat...

Han-Lin Liu, Zi-Chen Zhou, Jia-Cheng Zhang et al. · 0 citations

Preprint Sep 2026

OmniNav: Robust Long-Horizon Target Navigation in Dynamic Environments

Long-horizon target navigation requires a robot to sustain task execution across evolving observations, decisions, and physical interactions. This requires three coupled capabilities: maintaining valid scene memory, revising target beliefs under partial observability, and selecting interaction-feasible navigation endpo...

Yu-Jie Tang, Mei-Ling Wang, Jin-Hao Jiang et al. · 0 citations

Preprint Sep 2026

PhysReal: Learning Real-World Deformable Object Physics via Hybrid Constitutive Modeling

PhysReal, a video-driven framework for learning and simulating the underlying physics of real deformable objects, integrates a spatially varying hybrid expert-neural constitutive model with a differentiable MPM simulator and 3DGS renderer, and shows strong potential for downstream robotic applications.

Yi-Nan Deng, Jian-Qiao Song, Yi-Si Zhang et al. · 0 citations

Jul 2026

Robots Acquire Manipulation Skills in Seconds from a Single Human Video

HOST (Human-to-robot One-Shot Skill AcquisiTion), a framework that enables a robot to acquire skills in seconds from a single human video while retaining previously mastered skills.

Guangyan Chen, Meiling Wang, Te Cui et al. · arXiv.org · 2 citations