Author

Yan Yan

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Preprint Oct 2026

ForeAct3D: Policy-Grounded Future World Modeling for VLA Policies

Robots need to anticipate how their actions will change the world, since manipulation success hinges on the resulting contacts and object motions. However, existing Vision-Language-Action (VLA) policies that predict future observations from shared features leave the forecast decoupled from the actions the policy will a...

Zhe Tao, Fei-Ran Wang, Gao-Wen Liu et al. · 0 citations

Preprint Oct 2026

Kepler4D: Controllable Future Video Generation via 4D Scene State Evolution

Video world models aim to preserve scene structure and predict how dynamic objects evolve beyond visual observations. We present Kepler4D, a framework for future video generation through explicit 4D scene state evolution. Given a monocular video, Kepler4D constructs a shared 3D representation of background geometry, ob...

Fei-Ran Wang, Bin Duan, Jun-Yi Wu et al. · 0 citations