Author

Zhiyuan Yang

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Preprint Oct 2026

FR-VLA: Implicit Force Reasoning VLA for Contact-Rich Manipulation

Integrating force awareness into Vision-Language-Action (VLA) models involves not merely encoding wrench measurements as an additional modality, but determining when and how strongly physical interaction should influence robot action generation. Existing VLAs that use force typically inject it through a fixed pathway,...

Jia-Ju He, Zhi-Yuan Yang, Ru-Yang Han et al. · 0 citations

Preprint Aug 2026

SG-WAM: Self-Guided World Modeling in Geometry-Aware Policy Space

SG-WAM introduces learnable dynamics tokens and a Self-Guided World Predictor that forecasts their future latent states conditioned on intervening robot actions, and is a self-guided framework that learns geometry-aware action-conditioned dynamics directly in the policy-derived representation space.

Ruiteng Zhao, Zheng-Shen Zhang, Yue Su et al. · 2 citations