Author

Ziyao Wang

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#machine learning Preprint Oct 2026

XGenAct: Geometry-Enhanced World Action Models through Cross-Task Generation

World action models (WAMs) have advanced robot control by predicting how observations and actions evolve over time. Despite this progress, RGB and action based future prediction does not explicitly address the spatial understanding needed for robot manipulation. Existing efforts often add a limited set of spatial predi...

Ting-Ting Du, Zi-Yao Wang, Guoheng Sun et al. · 0 citations

Jun 2026

Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?

The results suggest that current VLA benchmarks may exert limited pressure on deep language grounding and compositional instruction understanding, and that future VLA architectures should allocate capacity more deliberately across language, vision, and action components.

Guoheng Sun, Kai Feng, Shwai He et al. · arXiv.org · 0 citations