Author

Song-En Gu

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Preprint Sep 2026

GIFT: Guided Intermediate Feature Training via Action-Oriented Structural Supervision for Robotic Manipulation

GIFT (Guided Intermediate Feature Training), an architecture-flexible framework for learning intermediate features that translates these structures into training-time constraints through geometry alignment, affordance prediction, and goal-region reconstruction, establishes learning functionally structured intermediate...

Yu-Peng Zheng, Xiang Li, Song-En Gu et al. · 2 citations

Preprint Aug 2026

Latent Action as Intention Enables Efficient Future Imagination for World Action Models

World action models (WAMs) improve robot control by modeling how observations evolve, but generating future observations at test time incurs substantial latency. Fast-WAM removes this process for efficiency; however, our matched implementations show lower generalization for Fast-WAM than for future-aware alternatives,...

Xiang Li, Yu-Peng Zheng, Song-En Gu et al. · 4 citations · ⚡2