GuidedVLA: Specifying Task-Relevant Factors via Plug-and-Play Action Attention Specialization
Xiaosong Jia*, Bowen Yang*, Zuhao Ge*, Xian Nie*, Yuchen Zhou*, Cunxin Fan*, et al. Equal contribution.
Robotics: Science and Systems (RSS), 2026
We guide VLA action decoders to focus on task-relevant factors by assigning dedicated attention heads to object grounding, temporal skill logic, and spatial geometry.
TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation
Yujie Zang*, Yuhang Zheng*, Xian Nie*, Yupeng Zheng, Shuai Tian, Songen Gu, Chen Gao, Zining Wang, Shuicheng Yan, Wenchao Ding
IEEE Robotics and Automation Letters (RA-L), under review, 2026
A force-guided tactile world model for contact-rich robotic manipulation.
IPR-1: Interactive Physical Reasoner
M Zhang, L Zhuo, T Tan, G Xie, X Nie, Y Li, R Zhao, Z He, Z Wang, J Cai, et al.
CVPR, 2026
An interactive physical reasoning model for embodied understanding and manipulation.