Authors

Xiatao Sun

Publications 2

Preprint Open access

Dexterous Tactile World Model

Ziyao Zeng, Xiatao Sun, Hao Wang et al. · 2026

World models for manipulation are typically trained from video, yet the events that determine how manipulation unfolds, such as making and releasing contact, are difficult to observe visually and are often easier to sense through touch. We present the Dexterous Tactile World Model (DTWM), a video world model for future …

Preprint Open access

Decoupling Vision, Language, and Action for Efficient Multi-Task Robot Policies

Xiatao Sun, Chen Liang, Ziyao Zeng et al. · 2026

Vision-Language-Action (VLA) policies commonly run Vision-Language Model (VLM) backbones with billions of parameters at every policy inference, which costs latency and energy. We revisit a decoupled alternative for multi-task manipulation: separate vision and language encoders whose representations condition a compact …

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