Author

Si-Chao Liu

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Preprint Sep 2026

Outcome-Sensitive Motion Search for Impact-Aware Dexterous Catching

Skilled humans can catch fast-moving objects softly by coordinating interception, velocity matching, and follow-through to mitigate impact. Learning such impact-aware catching with reinforcement learning (RL), however, is challenging, as the policy must achieve reliable interception and grasping while regulating the se...

G. Pei, Jin-Song Wu, Song-Yuan Su et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Achieve What You Imagined: Learning to Align Actions with Visual Plans

World-action models can jointly predict future visual observations and robot actions. However, discrepancies may exist between their visual predictions and the consequences implied by generated actions. We observe that WAMs can often generate visually plausible task-completion outcomes before producing action sequences...

Yu-Heng Qiao, Zi-Ran Wei, Xiao-Hang Wang et al. · 0 citations