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), 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.
Contact Trajectory Prompting: In-Context Transfer of Contact-Rich Behaviors from a Single Demonstration
Xian Nie*, Yujie Zang*, Yuhang Zheng*, Yupeng Zheng, Songen Gu, Wendi Chen, Chuan Wen, Cewu Lu, Wenchao Ding, Junchi Yan, Shuicheng Yan. Equal contribution.
IEEE International Conference on Robotics and Automation (ICRA), under review, 2026
We encode motion and contact information from a single demonstration into an ordered prompt, enabling a fixed policy to transfer contact-rich behaviors to unseen objects using online sensory feedback.