Author

Xian-Sheng Chen

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Preprint Aug 2026

Beyond Instance Slots: Semantically Rich World Models for Physical Interaction Planning

The Semantically Rich World Model is presented, a task-conditioned world model structured around five functional roles: gripper, target, goal, relation, and phase, which transforms object-centric prediction into a semantic interface linking visual dynamics with planning-oriented decision making.

Juntao Cheng, Jingkai Wang, Yi-Jun Shen et al. · 1 citation

Preprint Aug 2026

SLIM-0.5B: Learning Action-Grounded Predictive Latents for Robot Manipulation

SLIM (Self-supervised Latent Interaction Model), a compact 0.5B-parameter latent interaction policy, which matches or exceeds representative large-scale VLA and world-action-model baselines with fewer parameters, no additional embodied pretraining, lower inference latency, and substantially lower GPU memory usage.

Jing-Kai Wang, Zihan Tang, Gu Zhang et al. · 0 citations