Author

Chen Yang

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#machine learning Preprint Sep 2026

Learning Expressive and Compositional Motion Representation via Spectral Skills

Robotic foundation models offer a promising path toward general-purpose humanoid robot control, often through hierarchical architectures. However, their effectiveness depends on the command interface between the planner and the controller, which must support accurate execution while remaining easy to predict, and ideal...

Fei-Yang Wu, Chen-Xiao Gao, Chen Yang et al. · 0 citations

#artificial intelligence Preprint Jul 2026

Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models

Mask2Real-WM is presented, a two-stage action-conditioned world model for dexterous manipulation that decouples pixel prediction into a dynamics model and a rendering model that shows that mask conditioning and simulation pretraining are both required for per-DoF action controllability across all 23 degrees of freedom.

Riccardo Feingold, Davide Liconti, Chenyu Yang et al. · 1 citation