Author

Xue-Song Li

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Preprint Aug 2026

Repurposing RGB-based Foundation Model for Depth Estimation on Thermal Images Using Hierarchical Supervision

Depth estimation from thermal images is highly valuable for robotic applications in adverse conditions, such as nighttime and rainy weather. Recent studies have sought to transfer knowledge from RGB-based foundation models to thermal modalities, yet the rich hierarchical representations these models encode remain under...

Jie Hong, Ting-Tian Li, Xue-Song Li et al. · 0 citations

#robotics Preprint Aug 2026

Keep the Future, Drop the Rollout: RIFT for World Action Models

World action models (WAMs) condition robot actions on predicted futures, but iterative video rollout increases deployment latency. We ask whether action generation requires the evolving rollout trajectory or only its future representation. Across four WAMs on 40 simulated robotic manipulation tasks, paired closed-loop...

Chu-Shan Zhang, Jinguang Tong, Xuesong Li et al. · 1 citation