Yao Li

Topological defects do not simply cluster at peaks of Gaussian curvature; extreme geometric anisotropy causes elastic crowding that forces defect networks and domain boundaries into flatter regions.

Decoupling manipulation into object-centric world flow and robot-centric ego trajectories allows a compact 0.5B VLA to achieve 91.7% real-world robot manipulation directly from 10 minutes of human video demonstrations without collecting a single robot trajectory.