Authors

Zhihao Sun

Publications 2

Preprint Open access

Ego4WAM: What Matters When Scaling Egocentric Human Data for Robot Learning?

Zhihao Sun, Liu Liu, Xinjiang Wang et al. · 2026

Egocentric human data provides a scalable source of experience for robot learning, but varies substantially in human-robot alignment, behavioral coverage, and available supervision. Existing work shows favorable scaling with increasing human data, but it remains unclear which data properties drive downstream robot gain …

Preprint Open access

Rethinking Representations for World-Action Modeling

Haoyi Jiang, Liu Liu, Xinjiang Wang et al. · 2026

World-action models jointly learn robot policies and predict future observations, making the representation space an interface between control and prediction. We study the design of this space through controlled comparisons, finding that neither reconstruction fidelity nor pre-trained perceptual features alone ensure e …

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