Author

Yi-Fan Ye

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Jul 2026

Data Pyramid for Embodied Manipulation

This work organizes the embodied data ecosystem as a pyramidspanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelit...

Yifan Ye, Yankai Fu, Ya-hui Lv et al. · arXiv.org · 4 citations

Preprint Aug 2026

DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation

DynamicWAM introduces history-flow conditioning, encoding temporally aligned optical-flow frames alongside the current observation through a frozen pretrained video VAE to preserve spatial motion structure, while injecting kinematic descriptors of displacement, duration, velocity, and acceleration into the action exper...

Y. Lou, He-Wen Gao, Xiyu Zhu et al. · 0 citations