Author

He Wang

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#artificial intelligence Preprint Sep 2026

CASD: Chunk-Aligned Semantic Distillation for Multi-StageRobot Manipulation

This work introduces Chunk-Aligned Semantic Distillation (CASD), which derives semantic targets for entire action chunks from the current observation, robot state, and task instruction, and freezes the generator to train a policy conditioned on its predictions.

Ting-He Ding, Jia-Hao Li, He Wang · 0 citations