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Author

Yi Peng

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Preprint Sep 2026

Grounded Action Model: 3D Grounding as a Foundation for Robotics

Manipulation policies must know which objects matter and where they are, yet the pretrained backbones that current robot foundation models build on, from language in vision-language-action models (VLAs) to video generation in world-action models (WAMs), do not directly require this metric grounding, leaving it to be le...

Ge-Hao Zhang, Weikai Huang, S. Shailesh et al. · 0 citations
Preprint Aug 2026

MANIGUARD: A Benchmark and Data Suite for Specification-Grounded Safety Evaluation and Improvement of Robotic Manipulation

Foundation-model policies for robotic manipulation are advancing rapidly on task success, but rigorous evaluation of whether they succeed safely is still lacking. We introduce ManiGuard, a specification-grounded framework for evaluating and improving the safety of foundation-model manipulation, comprising the ManiGuard...

Yi Peng, Philip Wang, Simon Sinong Zhan et al. · 2 citations · ⚡1

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