Author

Hang Li

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Preprint Aug 2026

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

UCAG-P is introduced, a camera-centric unified action formulation that structurally aligns heterogeneous embodied datasets into a shared geometric action space, and allows a shared VLA policy to learn transferable manipulation geometry while retaining embodiment-specific controllability.

Xiaomi Embodied Intelligence Team, University of Macau Shaoqing Xu, Fang Li et al. · 0 citations

#small language model Preprint Aug 2026

SHIFT-LLM: Distribution Shift Correction in Depth-Pruned LLMs

SHIFT-LLM, a training-free post-pruning correction framework that inserts a Linear Residual Adapter at each pruning site, consistently recovers accuracy lost to depth pruning across most configurations, achieving gains up to +15.7 points on Llama-3.1-8B-Instruct.

Ali Bahri, Hang Li, Hongliang Li et al. · 0 citations