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Zhiyuan Li

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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
Jul 2026

RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning

RoboHarness is proposed, a unified framework that encapsulates independently developed robot control systems as reusable agentic skills as well as a general framework compatible with a broader range of robot policies, such as navigation policies, model predictive controllers, and world-action models.

Jinbang Huang, Yuan Hu, Zhiyuan Li et al. · 3 citations · ⚡1

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