Author

Xiao-Jie Zhang

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Preprint Oct 2026

Fast Pose Tracking of Rigid Objects with Compact Pose Graph Optimization

Tracking a novel object's 6D pose over long horizons currently requires either expensive onboarding or a reconstruction maintained throughout the sequence. This makes current trackers impractical for robotic manipulation and augmented reality, which need trackers that are ready to use and run in real time. We show that...

Xiao-Jie Zhang, Tom Fischer, Viktor Larsson et al. · 0 citations

Preprint Sep 2026

Token-World: World Modeling in Vision-Language Model Token Space for Robot Manipulation

Token-World is introduced, an action-conditioned world model that compresses VLM features into a compact token state, learns future dynamics in this reduced space, and maps predicted states back to the original policy-facing representation for downstream use.

Chu-Yao Fu, Xiao-Wei Chi, Yu-Han Rui et al. · 0 citations