Author

Pingyue Sheng

2 papers indexed here

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Preprint Aug 2026

DyPES-VLA: Learning Shared Dynamics Priors and Embodiment-Specific Control for Cross-Embodiment Manipulation

Vision-Language-Action (VLA) models have become a powerful paradigm for robot manipulation, but training a single generalist policy for heterogeneous robot embodiments remains an open problem. Existing methods have two main limitations. First, they underuse dynamics priors shared across diverse visual and interaction d...

Jun-Feng Li, Junjie He, Zhi-De Zhong 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