Author

Yujie Zang

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Preprint Oct 2026

Contact Trajectory Prompting: In-Context Transfer of Contact-Rich Behaviors from a Single Demonstration

In-context robot learning enables robots to acquire new behaviors from demonstrations without test-time parameter updates. However, visual and kinematic specifications alone may not distinguish contact-rich behaviors that share similar motions but require different interaction intensities or patterns. We propose Contac...

Xiang-Li Nie, Yujie Zang, Yu-Hang Zheng et al. · 0 citations

Preprint Aug 2026

Latent Action as Intention Enables Efficient Future Imagination for World Action Models

World action models (WAMs) improve robot control by modeling how observations evolve, but generating future observations at test time incurs substantial latency. Fast-WAM removes this process for efficiency; however, our matched implementations show lower generalization for Fast-WAM than for future-aware alternatives,...

Xiang Li, Yu-Peng Zheng, Song-En Gu et al. · 6 citations · ⚡2