Author

Zhen-Yang Liu

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Preprint Oct 2026

Revealing and Bridging the Physical Executability Gap in Vision-Language Navigation

Continuous vision-and-language navigation (VLN) is typically evaluated by goal-reaching success, assuming it reflects an agent's ability to execute language-grounded behavior. We show that this assumption can fail: permissive contact models in current simulators may mask physically infeasible actions, creating a physic...

Gang He, Zhi-Le Cheng, Ke-Peng Xu et al. · 0 citations

Preprint Oct 2026

AWAM: Active Trajectory-Conditioned View Imagination for Robust Robot Manipulation

Improved robustness to the evaluated occlusions and distribution shifts is supported, addressing part of the gap between structured manipulation and less controlled environments.

Jia-Wei Geng, Zhen-Yang Liu, Yu-Zheng Wu et al. · 0 citations

Preprint Oct 2026

Look Before You Act: Bridging Active Perception and Vision-Language-Action Models via Observation-Aligned Data Adaptation

Robots manipulating objects in clutter must decide not only how to act, but also where to look. Although active camera motion can expose an occluded target, it may move the robot into an initial observation-state distribution that differs from the manipulation policy's training distribution. We identify this problem as...

Jia-Wei Geng, Zhen-Yang Liu, Yu-Zheng Wu et al. · 0 citations