Author

Xian-Yao Li

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Preprint Oct 2026

From Wearable Interfaces to Dexterous Policies: Contact Shifts and Tactile Representations

Unlike conventional teleoperation, wearable interfaces allow operators to collect dexterous demonstrations through their own hand motions while directly interacting with task objects. This direct interaction reduces dependence on the target robot during collection, but it also makes the collection hardware part of the...

Rui-Tong Tian, Fang Xu, Noah B. Wilson et al. · 0 citations

Preprint Sep 2026

Same World, Different Knowledge: When Isolated Audits Misjudge World-Model Repairs

A repair favored under an isolated input fault can be inferior when deployed modules share the faulty information. We introduce an information-interface audit for world models, distinguishing fidelity gaps, where exact inputs become estimates, from availability gaps, where inputs are missing. Fixed-weight interventions...

Rui Min, Xian-Yao Li, Fang Xu et al. · 0 citations

#machine learning Preprint Oct 2026

When Low Prediction Error Misleads Planning: Diagnosing Representation, Dynamics, and Decision Failures in Latent World Models

The component that dominates a latent world model's prediction error need not be the one whose repair most improves action selection. We show this by comparing action sequences from identical physical starts and separating endpoint error into a candidate-pool center and action-relative responses. Across four model fami...

Rui Min, Xian-Yao Li, Fang Xu et al. · 0 citations