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Author

Jun-Tong Zhang

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Preprint Oct 2026

Forward Dynamics Models

Vision-language-action (VLA) models and world action models (WAMs) have advanced robotic policy learning by building on pretrained vision-language models (VLMs) and video generative models (VGMs), respectively. Yet VLAs learn without explicit supervision from future world states, while WAMs that condition actions on pr...

Zi-Pei Ma, Jun-Zhe Jiang, Jia-Hui Zhang et al. · 0 citations
Preprint Sep 2026

X-WBC: A Cross-Embodiment Foundation Model for Humanoid Whole-Body Control

Scaling humanoid whole-body control toward general-purpose deployment requires large human motion corpora and training experience shared across robot bodies. Existing methods usually train one policy per robot, leaving motion experience isolated across embodiments. We introduce X-WBC, a cross-embodiment foundation fram...

Jun-Tong Zhang, Chun Gu, Li Zhang · 0 citations

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