Author

Sankalp Yamsani

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Preprint Sep 2026

Think Like a World Model, Act Like a VLA: Distilling World-Model Representations into Compact Robot Policies

This work adds one feature-alignment term to ordinary VLA training: a frozen world model is run over the training frames once and cached, and the student learns to agree with that cache, indicating a broad representational prior rather than a fragile alignment between two particular networks.

T. Dao, Sankalp Yamsani, Jaden Park et al. · 1 citation

Open access Aug 2026

Kitchen robotic manipulation utilizing foundation models

A modular perception pipeline for household manipulation tasks, with a focus on dishware handling in kitchen environments, that integrates open-vocabulary object detection, multi-view segmentation, instance-aware 3D reconstruction, and a 2D-3D feature fusion strategy for 6D pose estimation and grasp planning is present...

Myung-Hwan Jeon, Sankalp Yamsani, Joohyung Kim · Intelligent Service Robotics · 0 citations