Authors

Yixin Xiao

Publications 2

Preprint Open access

Spatial Grafting: Grounding 3D Features for Flow-Matching Robot Policies

Dingsheng Liu, Yangzheng Wu, Mahboubeh Asadi et al. · 2026

Pretrained robot manipulation policies such as vision-language-action models (VLAs) or world-action models (WAMs) leave interaction-relevant metric geometry implicit. Recent breakthroughs in spatial reconstruction can supply the necessary geometry reliably, but their features describe local shape without stating where …

Preprint Open access

StageGuard: Learning Stage Transitions for Long-Horizon Robot Tasks via Agentic Distillation

Jinbang Huang, Yuanzhao Hu, Zhiyuan Li et al. · 2026

Hierarchical planning frameworks combine skills from multiple robot control policies for long-horizon task execution, where determining when to terminate the current skill and advance to the next subtask is essential. Existing approaches often rely on pre-designed completion signal checkers that are hard to obtain in r …

Co-authors

Dingsheng Liu Yangzheng Wu Mahboubeh Asadi Zhiyuan Li Jinbang Huang Tongtong Cao Yingxue Zhang Yuanzhao Hu Ran Qi Tengyue Ba Zhanguang Zhang