Author

Junbo Tan

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#artificial intelligence Preprint Sep 2026

ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC

In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is...

Zhe Gan, Yan-Bo Chen, Li-Rong Che et al. · 0 citations

Preprint Aug 2026

Retrieve in Time, Correct in Frequency

Frozen vision-language-action (VLA) policies generate temporally extended action chunks, but long-horizon manipulation remains vulnerable to accumulated execution error and visual aliasing across task stages. Successful rollouts provide useful corrective evidence, yet current frame retrieval can return progress-misalig...

Yuze Fan, Yue Cao, Peng-Jie Gao et al. · 0 citations

Preprint Aug 2026

HERA: Historical Evidence Routing Adapter for Physical Prediction in Latent World Models

Predictive video models have emerged as promising world models by learning latent visual dynamics from large-scale video. Yet these models remain challenged by physical events under occlusion, where later predictions may depend on object evidence that is no longer available in the current view. Addressing this challeng...

Yuanruyi, Yue Cao, Haojia Gao et al. · 0 citations