Author

Zhi-Cheng Wang

2 papers indexed here

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Preprint Oct 2026

GRASP: Global-Local Representation Alignment and Spatial-Physical Grounding for Bimanual Robotic Manipulation

Vision-Language-Action (VLA) models that directly regress joint-space actions avoid the deployment-time cost of inverse kinematics. However, their training objectives remain misaligned with task success, as joint-space losses ignore the unequal physical consequences of joint errors and visual conditioning lacks explici...

Ze-Yuan Ren, Guan-Xun Zhao, Qi Li et al. · 0 citations

Conference Aug 2026

Zero-Shot Affordance Exposure for Robotic Manipulation Via Object Repositioning

Robotic manipulation relies on perceiving the object region that affords an instructed interaction, yet often assumes that this region is visible and accessible. In cluttered scenes, however, a handle, blade, tip, or other task-relevant region may be occluded. This paper introduces a zero-shot affordance exposure frame...

Wei-Lin Yao, Peng-Wen Xiong, Ying Liu et al. · 2026 3rd International Confe... · 0 citations