Future Forward Dynamics Causal Attention (FFDC), a lightweight verifier that reasons over predicted actions, predicted visual dynamics, real observations, and instruction-conditioned semantics, is proposed that allows continued execution when a plan remains reliable and triggers replanning when its validity deteriorate...
Rui Wang, Yue Zhang, Jie-Hong Lin et al.· arXiv.org· 22 citations· ⚡1
Long-term physical coexistence with intelligent robots requires more than capable robot policies. A persistent robotic assistant must support diverse user-facing interfaces, maintain long-horizon memory of people and preferences, coordinate across robot embodiments, and translate human intent into safe physical executi...
Weiqi Jin, Peijun Tang, Kuncheng Luo et al.· 0 citations
Lumo-2 is introduced, a latent world-action model that generates actions by reasoning over world dynamics in latent space that consistently outperforms strong vision-language-action and world-action model baselines, with gains on challenging real-world tasks requiring temporal reasoning, physical understanding, or high...
