Author

Fang Li

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Preprint Aug 2026

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity of embodied data, which spans diverse robot morphologies, camera configurations, and low-level action spaces. Existing paradigms typically address this mismatch through explicit action retargeting, human-to-r...

Xiaomi Embodied Intelligence Team, University of Macau Shaoqing Xu, Fang Li et al. · 0 citations

Jul 2026

GeoWorldAD: Geometry World Action Model for Autonomous Driving

GeoWorldAD is proposed, a geometry world action model that grounds trajectory planning in ego-aligned 3D space and anticipates short-horizon scene evolution with latent future geometry tokens and progressively aggregates multi-scale present geometry and latent future geometry through iterative trajectory refinement.

Song-Yan Zhang, Jin-Yu Tian, Han-Bing Li et al. · arXiv.org · 1 citation