Author

Ping Tan

2 papers indexed here

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#machine learning Feb 2026

Universal Pose Pretraining for Generalizable Vision-Language-Action Policies

Pose-VLA is proposed, a decoupled paradigm that separates VLA training into a pre-training phase for extracting universal 3D spatial priors in a unified camera-centric space, and a post-training phase for efficient embodiment alignment within robot-specific action space.

Haitao Lin, Hanyang Yu, Jingshun Huang et al. · Robotics · 11 citations

Jul 2026

Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization

BiCompoDiff is introduced, a compositional diffusion and energy-based framework that jointly optimizes grasp selection, handover, regrasp, and motion planning under multiple constraints that achieves effective sim-to-real transfer and robust performance on challenging scenes.

Wun-Lam Yeung, Wen-Jun Liu, Yui-Cheung Yu et al. · arXiv.org · 0 citations