Author

Chang Jie Wu

University of Science and Technology of China

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Preprint Oct 2026

Trace-WAM: Learning to Act via 3D Motion Prediction for World Action Models

World Action Models (WAMs) learn representations for robot control by coupling future visual prediction with action generation. Successful manipulation depends primarily on how the robot and task-relevant objects evolve, whereas future-video prediction must also reconstruct the appearance and background of the entire s...

Xu-Qing Hu, Chang Jie Wu, Lin-Zhe Shi et al. · 0 citations

Preprint Oct 2026

SimpleTouch: Can Vision-Language-Action Models Master Contact-Rich Manipulation Without Tactile Policy Pretraining?

Tactile sensing provides essential contact information for robotic manipulation, yet incorporating it into pretrained vision-language-action (VLA) models remains challenging. A common concern is that simply introducing touch during task-specific fine-tuning may fail to bridge the cross-modal gap, yielding limited gains...

Chen Yang, Lin-Zhe Shi, Chang Jie Wu et al. · 1 citation · ⚡1

Preprint Aug 2026

Revisiting Local Context for Long-Horizon Streaming 3D Reconstruction

ABot-Recon is presented, a simple streaming model that caches KV features from only the preceding 11 frames and predicts a point map in the current camera coordinate system together with an adjacent-frame relative pose that remains equivariant under changes of reference frame.

Jiarong Han, Jincheng Xiong, Yu-Zhou Liu et al. · 2 citations · ⚡1