Author

Yintianrun Zhang

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Preprint Sep 2026

Systematically Exploring the Capabilities of GPT-6 Astra as Embodied Policies

GPT-6 Astra exhibits a remarkable ability to generate numerical robot actions, extending its role beyond high-level planning. To assess Astra's capabilities as general-purpose embodied policies, we conduct comprehensive evaluations across six domains, examining direct control, cooperation with learned policies, and fee...

Galbot Team Xuchuan Chen, Xiao-Qi Cheng, Yu Deng et al. · 0 citations

Preprint Oct 2026

Rethinking World-Action Model for Compositional and In-Context Robotic Manipulation

Long-horizon compositional manipulation has become increasingly important for real-world robot deployment, where a single task involves multiple coordinated subtasks. Existing world-action models (WAMs) jointly predict short-horizon visual futures and actions, but typically lack explicit subtask-level reasoning. We pro...

Shu-Kai Gong, Xuan-Ran Zhai, Yintianrun Zhang et al. · 0 citations

Preprint Aug 2026

HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark

This work introduces HumanTracker, a preference-aligned metric trained on 12K motion pairs containing 24K motions that better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.

Dai-En Liu, Ze-Kun Qi, Jia-Yu Zeng et al. · 0 citations