Author

Hou-De Liu

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Preprint Sep 2026

DeViGrasp: Robust Visual Mobile Grasping for Quadruped Manipulators under Degraded Perception

Quadruped manipulators enable mobile grasping in complex environments, yet their whole-body control policies remain vulnerable to unreliable onboard visual perception. Existing methods are typically developed under relatively reliable observations and have not systematically examined how occlusion, segmentation-mask dr...

Liang Zhou, Jia-Ming Su, Yang Wei et al. · 0 citations

Jul 2026

ST-WAM: Semantic-Temporal World Action Model for Robust Manipulation under Visual Distribution Shifts

Semantic-Temporal WAM (ST-WAM) is proposed to improve action robustness by using DINOv3 as a shared semantic representation for future prediction and history retrieval while retaining fine-grained VAE dynamics, demonstrating that semantic-temporal modeling effectively complements pixel-generative dynamics for robust ma...

Mingxin Wang, Bin Hu, Bin Qian et al. · arXiv.org · 5 citations · ⚡1

Jun 2026

Stage-Transition Dense Reward Modeling for Reinforcement Learning

Experiments show that STDR consistently improves sample efficiency and success rates over multiple baselines, and matches or surpasses handcrafted dense rewards on several challenging tasks, suggesting robustness to visual noise and better-calibrated reward assignment across settings.

Yang Yang, Bingjie Chen, Zihan Wang et al. · arXiv.org · 0 citations