Author

Shifeng Bao

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Preprint Sep 2026

Enabling a Unified Cross-Domain Representation for Two-Finger Gripper Manipulation via Interaction-Centric Modeling

Achieving robust cross-embodiment generalization in imitation learning demands overcoming a critical representation flaw that inextricably entangles task semantics with hardware-specific visual geometry. We propose an interaction-centric framework that leverages the shared structure of two-finger grippers via a paramet...

Guan-Lin Li, Shi-Feng Bao, Yi-Han Zhao et al. · 0 citations

Preprint Sep 2026

RoboHarn-Evo: Evolving Hierarchical Physical Knowledge for Self-Improving Robotic Manipulation

Vision-language models can coordinate long-horizon robot manipulation, yet successful task reasoning still depends on whether local physical interactions produce the intended effects. We study how repeated interaction can improve this capability without updating the base model. We introduce RoboHarn-Evo, a dual-loop ha...

Shi-Feng Bao, Fan-Ding Huang, Yi-Han Lin et al. · 0 citations

Preprint Aug 2026

JEPA-WAM: Learning Vision-Language-Action Policies with Joint-Embedding World Modeling

JEPA-WAM, a latent WAM built in a pretrained V-JEPA space, which couples latent transition prediction with continuous action generation through a shared predictor, predicts a spatially structured joint current-future target that captures task-shared visual temporal structure between current and future observations, whi...

Yi-Han Lin, Jia-Wei He, Shi-Feng Bao et al. · 10 citations · ⚡1