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Wen-Jie Zhang

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#machine learning Preprint Sep 2026

ActiveScale: Scaling Active Perception for Robots across Model, Data, and Hardware

Active perception is essential for robotic manipulation when fixed viewpoints leave task-relevant information occluded or unobserved. However, enabling vision-language-action (VLA) models to reason across changing viewpoints and actively acquire informative observations remains challenging. We present ActiveScale, a fr...

Shuai-Tao Zhou, Kai-Sheng Pang, Wen-Xuan Song et al. · 1 citation

Preprint Aug 2026

DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation

DreamTrajectory is presented, a trajectory-guided framework for language-conditioned mobile manipulation that introduces one component for each limitation of existing Vision-Language-Action policies, and jointly predicts an intention-level end-effector trajectory and a whole-body action chunk in a single action expert.

Zheng Yang, Wen-Jie Zhang, Xiang-Yu Chen et al. · 1 citation