Daoheng Li

Tsinghua University

Tsinghua AI

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Haitao Shen (1)Hanyu Liu (1)Yihan Lin (1)Huiping Liu (1)Junbo Cui (1)Wenxin Li (1)Yuan Yao (1)

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Oct 15, 2026

3d ago·also Tsinghua AI, BJTU, PKU

What Should Robot Policies Learn to Predict? Rethinking Supervision Targets in Vision-Language-Action Learning

Auxiliary future-vision prediction targets, not just action prediction, unlock superior robot policy performance even when action supervision is halved.

Haitao Shen, Hanyu Liu, Yihan Lin +5

Daoheng Li

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Daoheng Li

Publication activitypapers/week, last 8 weeks

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Papers (1)