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Wen-Hao Li

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#artificial intelligence Preprint Oct 2026

LAPT-Scale: Scaling Embodied Policies with Latent Action Pre-Training on Human Videos

Scaling generalist robotic policies is limited by the high cost of collecting embodied interaction data. Large-scale egocentric human videos offer a rich alternative, but they lack robot action labels, and existing action annotation methods are often noisy under real-world visual complexity and diverse manipulation dyn...

Zhi-Yuan Xiang, Pei-Dong Liu, Ming-Yang Li et al. · 0 citations
Preprint Sep 2026

WLA$^3$: World Latent Action Modeling for Semantics, Dynamics, and Kinematics

WLA$^3$ (World Latent Action Modeling for Semantics, Dynamics, and Kinematics), a unified generalist policy model framework built around representations learned by a World Latent Action Model (WLAM), is introduced.

Pei-Dong Liu, Zhi-Yuan Xiang, Ming-Yang Li et al. · 0 citations
#artificial intelligence Preprint Jun 2025

AntiGrounding: Executable Robot Trajectories as Visual Prompts for VLM-Guided Manipulation

AntiGrounding, a visual action-selection framework built around a dual geometric--visual trajectory interface, is presented, where component ablations and evaluator sensitivity characterize trajectory assessment, proposal search, orientation control, and evaluator choice.

Wen-Bo Li, Yi-Teng Chen, Wen-Hao Li et al. · 0 citations

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