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Xing-Xing Zuo

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Preprint Oct 2026

ForkCast: Predictive Recovery for Vision-Language-Action Policies via Counterfactual Futures

Vision-language-action (VLA) policies perform manipulation tasks using camera images and language instructions, but object slip or visual occlusion can disrupt execution. Recovery is typically learned during policy training or delegated to a monitor that triggers a scripted repair after detecting a failure. We introduc...

Chen-Ru Wen, Hua-Jian Zeng, Hao-Kai Ding et al. · 0 citations

Preprint Sep 2026

SURE-Map: Self-Correcting Streaming Geometric Foundation Models

Streaming geometric foundation models are emerging as a compelling alternative to SLAM systems. Yet this streaming nature introduces a fundamental issue: each prediction is made from limited context, which is vulnerable to dynamic objects and weak textures. Small local errors accumulate into severe geometric distortion...

Ming-Kai Liu, Hao-Yu Zhao, Xing-Xing Zuo · 0 citations

Preprint Sep 2026

MAC-I$^2$: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration

Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Existing methods, however, fuse the two modalities with predefined uncertainties, regardless of how reliable each is in the local context, and t...

Xiang Fei, Yu-Heng Qiu, Can Xu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Exo2EgoHOI: Hand-Object-Interaction Aware Exocentric-to-Egocentric Video Generation

Egocentric videos of human manipulation provide valuable visual experience for embodied intelligence, yet collecting such data at scale is costly. Exocentric-to-egocentric video generation offers a scalable alternative by transforming abundant third-person manipulation videos into first-person observations. However, ex...

Hong-Jia Zhai, Xi-Yu Zhang, Hao-Ran Zhang et al. · 0 citations

Review Sep 2026

World-Action Models for Robot Learning and Control: A Survey

Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to actions, they must anticipate how candidate actions may affect future states and task-relevant outcomes. Recent advances in world models, video...

Zu-Xing Lu, Hong-Jia Zhai, Guan-Zhi Wang et al. · 6 citations

Preprint Aug 2026

LooperMuscle: Fast and Stable Learning of Humanoid Whole-Body Tracking via Structured Mixture-of-Experts

LooperMuscle is introduced, a composed expert policy learning framework that restores tracking quality while preserving high training efficiency, and substantially outperforms vanilla FastSAC in motion tracking accuracy while requiring far less wall-clock time than PPO.

Boyi Liu, Qi-Jing Li, Tianqi Yu et al. · 0 citations