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Author

Feras Dayoub

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Preprint Sep 2026

ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation

This paper presents a comprehensive framework for robot manipulation failure analysis that includes binary failure detection, failure categorization, explanation generation, and the additional capability of failure onset localization, which aims to identify the earliest moment at which a robot execution deviates from a...

Chang-Qiu Dong, Mehdi Hosseinzadeh, Kin-Hang Wong et al. · 1 citation
Preprint Aug 2026

4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields

4D-WAM is proposed, a model-agnostic training strategy that injects spatiotemporal knowledge from 3D trajectory fields into WAMs through representation alignment, enabling WAMs to learn trajectory-level spatiotemporal representations.

Lishan Yang, Wen-Xuan Song, Xi Wang et al. · 5 citations · ⚡1

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