Author

Haitian Zhang

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Preprint Sep 2026

MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts

Recent advances in learning-based robot policies have demonstrated promising progress, yet they are predom- inantly evaluated in static or quasi-static environments. In dynamic manipulation, objects and scenes continuously evolve while the robot perceives, reasons, and acts. However, recent dynamic simulation benchmark...

Mo-Han Liu, Deng-Chen Mei, Hao-Tian Xian et al. · 0 citations

Jul 2026

VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation

This work presents VistaVLA, a novel two-stage framework that constructs a geometry- and semantics-aware 3D cognitive representation from 3D Gaussian primitives and grounds it as compact context tokens for VLA policy learning, and introduces Merge-then-Query (MtQ), a token summarization mechanism.

Mo-Han Liu, Zhihao Gu, Xuanyu Chen et al. · arXiv.org · 0 citations