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Hao Su

Publications and source records attributed to Hao Su.

At least 19 recordsLinked to original sources
arXiv2026

Generalizable Robotic Insertion with World Models

Robotic assembly in high-mixture settings requires adaptable systems that can handle diverse parts, yet current approaches typically rely on policies specialized to each insertion task. Although this can reach high success rates, it makes the process of deploying systems for new problems tedious and time consuming. We present a framework for generalizable insertion using world models that combine robot proprioceptive information with raw visual observations captured by a wrist-mounted camera. Our model-based approach trains a single world model on up to 90 insertion tasks with geometrically diverse parts, achieving 56% zero-shot success on unseen objects with unknown geometry compared to just 7% with a model-free baseline. Importantly, performance improves as more objects are included in the training dataset, demonstrating strong scalability. Lastly, finetuning the generalist model on held-out objects significantly enhances data-efficiency compared to training from scratch and, in some cases, achieves better asymptotic performance. To our knowledge, this is the first system capable of assembling unseen objects in an entirely data-driven manner, and thus represents a significant step toward scalable, generalizable robotic assembly systems.

cs.RO↗
arXiv2026

Intelligence Across Embodiments

Robotic embodiment encompasses the sensing, kinematics, dynamics, geometry, actuation, and control through which an agent physically interacts with the world. These properties vary across robots and change over time. We argue that general embodied intelligence requires learning that accumulates across these differences. Prevailing methods that engineer correspondences to bridge embodiment differences offer immediate practical gains, but their assumptions limit the scope of transfer in the long run. Instead, a more general approach should discover representations that support transfer to a larger range of embodiments as experience grows. We propose embodiment diversity as a promising axis of scaling, and identify broad learned priors as a complementary ingredient. We call for evaluations that better characterize embodiment gaps and transfer performance. More broadly, cross-embodiment learning connects the practical challenge of learning from heterogeneous robot experience with a broader scientific pursuit inspired by nature - physical intelligence that adapts and co-evolves with its embodiments to gain agency over its behavior and physical forms.

cs.RO↗
arXiv2026

A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a solution that leverages robot simulators to achieve online imitation learning. Our sim-to-real framework is based on world models and combines online imitation pretraining with offline finetuning. By leveraging online interactions, our approach alleviates the data coverage limitations of offline methods, leading to improved robustness and reduced performance degradation during finetuning. It also enhances generalization during domain transfer. Our empirical results demonstrate its effectiveness, improving success rates by at least 31.7% in sim-to-sim transfer and 23.3% in sim-to-real transfer over existing offline imitation learning baselines.

cs.RO↗
arXiv2026

Identification of gravitational lenses obscured by foreground light in the KiDS dataset using U-Nets and ResNets

*Context.* Many lensing images are often obscured by foreground light from the central galaxies, making them challenging to detect. *Aims.* To address the limitations of previous lens search efforts, particularly for samples with smaller $R_E$ or faint lensed images, we developed a composite convolutional neural network framework that utilizes both U-Net and ResNet architectures for feature extraction and classification. *Methods.* We propose a hybrid search method that combines U-Net and ResNet architectures to enhance the detection of foreground galaxy-obscured lenses. Our approach consists of two main stages: first, the U-Net model separates the foreground galaxy light from potential lensing signals, creating residual images that highlight the lensing features. Next, the ResNet module performs binary classification on these residual images to detect lensing signals. *Results.* We evaluated the hybrid search method with real observational data to demonstrate its effectiveness, achieving a recall of 71.5% and a 4.5% false positive rate at a confidence threshold of 0.6. Applying this method to over 638,398 galaxy samples from the Kilo-Degree Survey Data Release 4 and conducting thorough inspections, we identify 88 Class A, 322 Class B, and 1,758 Class C candidates. *Conclusions.* This hybrid approach significantly enhances the completeness of existing strong gravitational lensing searches and shows great potential for improving future astronomical surveys.

astro-ph.IM↗
arXiv2026

LenNet: Direct Detection and Localization of Strong Gravitational Lenses in Wide-Field Sky Survey Images

Strong gravitational lenses are invaluable tools for addressing fundamental questions in astrophysics, from the nature of dark matter to the expansion of the universe. While current sky surveys have successfully identified thousands of lens candidates, the search methods employed face a critical challenge. The conventional approach relies on a "crop-and-classify" strategy, where small images are first cut out around billions of potential host galaxies before being individually classified. This process creates a significant computational and storage bottleneck that is unsustainable for future large-scale surveys. To overcome this limitation, we propose LenNet, an object detection model that identifies lenses directly within large, original survey images. Our method completely bypasses the inefficient cropping step by framing the problem as a direct detection and localization task. We initially train LenNet on simulated data to learn the complex features of gravitational lenses and then use transfer learning to fine-tune the model on a limited set of real, labeled examples from the Kilo-Degree Survey (KiDS). Our experiments show that LenNet performs remarkably well on real survey data, validating its potential as a highly efficient and scalable solution for lens discovery in massive astronomical surveys.

astro-ph.GA↗
arXiv2026

Morphology classification for galaxies in the Kilo Degree Survey using a label-efficient self-supervised learning framework

Galaxy morphology classification is fundamental to understanding galaxy formation and evolution. The advent of large-scale sky surveys has produced an unprecedented volume of galaxy images, making traditional manual classification impractical. Although supervised deep learning can achieve high accuracy, it requires large labeled datasets that are time-consuming to construct. In contrast, unsupervised methods often show limited classification performance. To address this limitation, we propose a label-efficient self-supervised learning framework for galaxy morphology classification. Our method first learns robust morphological representations from 305,583 unlabeled KiDS galaxy images through contrastive learning, and then trains a classifier using only 5,000 human-labeled images. The classifier separates galaxies into five categories: elliptical, spiral, lenticular-disk, irregular, and "other." Using a ResNet-50 model with a crop size of 64x64 pixels, our approach achieves an overall test accuracy of up to 91.0% (90.5% +/- 0.2% on average) on the human-classified catalog. The corresponding F1 scores for elliptical, spiral, irregular, lenticular-disk, and "other" galaxies are 0.96, 0.86, 0.86, 0.95, and 0.92, respectively. We apply this pipeline to the Kilo-Degree Survey Data Release 5 and produce a publicly available morphology catalog of 310,583 galaxies. This is the first morphology catalog for KiDS galaxies and provides a valuable resource for future studies of galaxy evolution. Our results show that self-supervised learning can substantially reduce the need for manual labels while maintaining high classification accuracy, making it a promising and scalable approach for automated galaxy morphology classification in the era of large-scale surveys.

astro-ph.GA↗
arXiv2026

Quantum lattice Boltzmann method via density-matrix encoding for fluid simulation with wall boundary conditions

The quantum lattice Boltzmann method (QLBM) holds promise for efficient fluid simulations, yet the treatment of realistic boundary conditions, particularly solid wall boundary with arbitrary geometry, remains a critical open challenge. We propose a QLBM algorithm that incorporates wall boundaries as well as inlet/outlet velocity conditions. Building upon the existing QLBM with ensemble transformations, we adopt a density-matrix encoding that offers greater flexibility in circuit design and enables the implementation of non-unitary operations through Kraus operators. For boundary enforcement, we design a quantum implementation of the half-way bounce-back scheme and introduce a component exchange step prior to the streaming step, which naturally enforces the no-slip condition without modifying the transport operation. Inlet and outlet conditions are imposed via controlled SWAP operations combined with ancilla registers prepared in the prescribed velocity states. Our QLBM is quantitatively validated through simulations of two-dimensional flows past a backward-facing step, a cylinder, and an obstacle with complex geometry, demonstrating both accuracy and extensibility of our boundary algorithm.

quant-ph↗
arXiv2026

Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning

In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We introduce Seeing the Bigger Picture (SBP), an end-to-end policy learning approach that operates directly on a 3D map of latent features. In SBP, the map extends perception beyond the robot's current field of view and aggregates observations over long horizons. Our mapping approach incrementally fuses multiview observations into a grid of scene-specific latent features. A pre-trained, scene-agnostic decoder reconstructs target embeddings from these features and enables online optimization of the map features during task execution. A policy, trainable with behavior cloning or reinforcement learning, treats the latent map as a state variable and uses global context from the map obtained via a 3D feature aggregator. We evaluate SBP on scene-level mobile manipulation and sequential tabletop manipulation tasks. Our experiments demonstrate that SBP (i) reasons globally over the scene, (ii) leverages the map as long-horizon memory, and (iii) outperforms image-based policies in both in-distribution and novel scenes, e.g., improving the success rate by 15% for the sequential manipulation task.

cs.RO↗
arXiv2026

Rapid Embodiment Adaptation for Quadrupedal Locomotion

Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learning-based robot policies often break when hardware properties shift. We introduce an online embodiment adaptation framework for quadrupedal locomotion that infers embodiment parameters from short interaction histories and conditions control on the inferred hardware state. Our method pairs a generalist policy trained under embodiment randomization with a lightweight adaptation module that identifies physical changes within half a second. We evaluate two representative forms of embodiment variation: joint-range constraints and trunk-mass changes, corresponding to joint-level kinematic degradation and body-level dynamic variation. In simulation, the module accurately estimates these changes and enables closed-loop control that substantially outperforms policies conditioned directly on interaction history. On a real Unitree Go2 robot, our system maintains stable locomotion under severe instances of the evaluated changes, including a fully locked leg and a 5 kg payload, where non-adaptive methods fail. These results demonstrate the practicality of explicit online embodiment identification for rapid adaptation to joint-limit and payload-mass changes, and provide a step toward handling broader forms of uncertain, degraded, or changing robot hardware.

cs.RO↗
arXiv2026

Scaling Cross-Embodiment World Models for Dexterous Manipulation

Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data sharing and control transfer. We ask: What structure can be shared across embodiments despite these differences? We argue that the physical interactions they induce can be modeled in a shared geometric space, allowing world models to provide a common interface for learning and control. To realize this idea, we represent human and robot hands as sets of 3D particles and define actions as end-effector particle displacement fields. This representation abstracts away embodiment-specific joint spaces while preserving the geometry and motion relevant to physical interaction. We train a graph-based world model on random interaction data from diverse simulated robot hands and real human hands, and integrate it with model-predictive control for deployment on new hardware. Experiments on rigid and deformable manipulation reveal three findings: increasing the diversity of training embodiments improves generalization to unseen hands; appropriately combining simulated and real-world data outperforms either source alone; and the same learned model enables effective control on robotic hands with distinct kinematics and degrees of freedom. These results position particle-based world models as a shared interface for learning from and for heterogeneous embodiments.

cs.RO↗
arXiv2026

MM-IssueLoc: A Controlled Benchmark for Evaluating Visual Evidence in Multimodal Repository-Level Issue Localization

Real repository issues routinely include visual evidence such as screenshots, error dialogs, rendered UI states, and logs, yet repository-level issue localization is evaluated mostly as a text-only task. Existing multimodal SE benchmarks evaluate end-to-end repair, entangling localization with patch synthesis and obscuring whether visual input helped, hurt, or was ignored. We introduce \textbf{MM-IssueLoc}, a controlled benchmark and evaluation protocol for repository-level localization with visual evidence. MM-IssueLoc contains 652 issue-PR instances across 23 languages, with annotations for 7 image categories and 4 relevance levels. It provides file-level and function-level gold labels, paired text-only and with-image evaluation, and VCE-based diagnostics that convert images into structured textual evidence. We evaluate LLM-based and retrieval-based systems, including MM-IssueLoc-VL-Emb as a controlled multimodal retriever. Results show that existing systems remain far from reliable multimodal repository localization: the strongest agent reaches 38.96 file Acc@5 and 22.45 function Acc@10, while the strongest retriever reaches 33.86 function Acc@10. Cross-benchmark comparisons show that high localization scores on text-dominant SWE benchmarks do not transfer cleanly to multimodal issue localization. MM-IssueLoc turns visual evidence into an explicit evaluation variable, enabling future work to test whether systems improve by using visual evidence for localization, rather than by relying on text-only cues or downstream patch-generation effects.

cs.SE↗
arXiv2026

Driver-WM: A Driver-Centric Traffic-Conditioned Latent World Model for In-Cabin Dynamics Rollout

Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly recognition-oriented and lacks multi-step rollout capabilities for driver dynamics. We introduce Driver-WM, a driver-centric latent world model that rolls out in-cabin dynamics causally conditioned on out-cabin traffic context. This formulation unifies physical kinematics forecasting with auxiliary behavioral and emotional semantic recognition. Operating in a compact latent space constructed from frozen vision-language features, Driver-WM adopts a dual-stream architecture to separately encode external traffic and internal driver states. These streams are directionally coupled via a gated causal injection mechanism, which uses a learned vector gate to modulate external contextual perturbations while strictly enforcing temporal causality. Experiments on AIDE show robust long-horizon forecasting on reactive high-motion clips, improved driver/traffic semantic alignment, and controlled interventions that expose the external-to-internal mechanism.

cs.RO↗
arXiv2026

Risk-Aware Selective Multimodal Driver Monitoring with Driver-State World Modeling

Continuous driver monitoring in automated vehicles requires low-latency inference while avoiding unsafe decisions under uncertain driver states. Large vision-language models provide broad multimodal priors, but their latency and limited reliability in this setting make them unsuitable as always-on in-cabin monitors. We propose a cost-aware selective inference framework for deployable multimodal driver monitoring. The core system is a lightweight RGB-physiological student that combines in-cabin visual observations with window-level HR/EDA signals, and a learned gate that decides when to accept the fast prediction or abstain for safety intervention. Additional controls show that the learned scores contain sample-level information beyond scenario priors, while exact physiological synchronization remains a limitation. To incorporate predictive evidence, we further study a compact driver-state world modeling module that rolls out latent driver-state features and estimates future fast-model errors and counterfactual system-level action costs. On scenario-induced driver-demand recognition, the RGB-physiological student improves over RGB-only and physiology-only baselines, reaching 0.7440 Macro-F1 and 0.9099 balanced accuracy with 11.39M parameters and 3.08ms inference latency. Cost-aware selective inference reduces unsafe false negatives from 17.37% under always-fast inference to approximately 5% across seeds, while maintaining deployment-level latency. While driver-state world modeling offers valuable predictive signals, worst-group evaluations highlight persistent operating-point calibration drift. Ultimately, reliable edge driver monitoring requires advancing not only perception backbones, but also risk-aware selective control and group-robust calibration.

cs.RO↗
arXiv2026

SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation

Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing monolithic methods struggle with long-horizon reasoning and generalize poorly to novel environments. To address these limitations, we propose SAGE-Nav, a novel hierarchical framework that integrates the reasoning capabilities of Large Language Models (LLMs) with dynamic scene graphs. Crucially, it decouples asynchronous global semantic planning from the high-frequency reactive control loop. The LLM serves as a global planner, decomposing abstract instructions into a sequence of semantically grounded waypoints. To translate these plans into dense multi-modal guidance, we design a Hierarchical Scene Graph Encoder (HSGE) that leverages relational graph convolutions to produce structure-aware embeddings preserving both semantic and spatial topology. Furthermore, we develop the Goal-aware Alignment-Fusion Network (GAFN) to dynamically fuse real-time perception with these structural priors. Using an adaptive gating mechanism with an explicit inductive bias, GAFN ensures robust visual-topological alignment for the low-level policy. Extensive evaluations in the i-THOR and RoboTHOR environments demonstrate that SAGE-Nav achieves state-of-the-art performance, delivering substantial gains in navigation efficiency and zero-shot generalization while maintaining the low control latency required for physical robotic deployment.

cs.RO↗
arXiv2026

DriveStack-VLA: Render-Teacher Alignment for BEV-Based DeepStack Vision-Language-Action Model

Vision-Language-Action driving models convert a pretrained Vision-Language Model into a driving policy, allowing them to use world knowledge and follow language guidances. However, existing VLA driving models still lack driving-oriented spatial intelligence: their policies are mainly grounded on perspective image tokens and language priors, while precise motion planning requires metric geometry, top-down scene structure, and attention to safety-critical perceptual cues. This limitation makes current models vulnerable to weak visual geometry modeling and perceptual coverage in expert demonstrations. In this paper, we present DriveStack-VLA, a framework built upon a large VLM backbone. To strengthen the spatial grounding of VLA driving, we develop dual visual modeling components. We inject a Bird-Eye-View representation into the Large Language Model decoder through a DeepStack-style connection, and propose Render-Teacher Alignment to align the perceptual focus of real images with that of rasterized images. Furthermore, to bridge the gap in multimodal trajectory selection, we introduce a head-based self-critique module that ranks sampled trajectories and conditionally refines the best one. DriveStack-VLA achieves 91.6 PDMS on NAVSIMv1, 91.0 EPDMS on NAVSIMv2 (with the human penalty filter enabled), and a driving score of 79.49 with a success rate of 56.36\% on the closed-loop Bench2Drive. More visualizations are available on our project page: https://anonymous.4open.science/w/drivestack-vla/.

cs.CV↗
arXiv2026

House of Dextra: Cross-embodied Co-design for Dexterous Hands

Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challenge: how should we design and control robot manipulators that are optimized for dexterity? We present a co-design framework that learns task-specific hand morphology and complementary dexterous control policies. The framework supports 1) an expansive morphology search space including joint, finger, and palm generation, 2) scalable evaluation across the wide design space via morphology-conditioned cross-embodied control, and 3) real-world fabrication with accessible components. We evaluate the approach across multiple dexterous tasks, including in-hand rotation with simulation and real deployment. Our framework enables an end-to-end pipeline that can design, train, fabricate, and deploy a new robotic hand in under 24 hours. The full framework and generated robot hands are open-sourced and available on our website.

cs.RO↗
arXiv2026

TacCoRL: Integrating Tactile Feedback into VLA via Simulation

Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state required for contact-rich tasks. We present TacCoRL, a scalable framework that injects Tactile feedback into VLA policies and improves them through sim-real Co-training and simulation-based reinforcement learning (RL), without requiring large-scale tactile pretraining or extensive real-world contact exploration. The key idea is not only adding touch as an input, but learning how contact readings should modulate action responses in near-failure states that are rare in demonstrations and risky to collect on hardware. We use a real-aligned simulator as a closed-loop training environment for contact interaction. Mixed simulated and real trajectories first warm-start tactile-conditioned actions in the pretrained policy. Reinforcement learning with verifiable task rewards then optimizes the policy using simulated contact rollouts. It reinforces tactile-conditioned actions that lead to task completion, while a supervised objective on real trajectories keeps the refined policy anchored to deployment visual, tactile, and action distributions. The resulting policy transfers directly to the real robot without privileged simulation state or online real-world RL. Across four bimanual contact-rich tasks, the final visuo-tactile policy achieves an average success rate of 72.5%, compared to baseline of 50.0%. Result videos and more details are available at https://tac-corl.github.io/

cs.RO↗
arXiv2026

AnyHand: A Large-Scale Synthetic Dataset for RGB(-D) Hand Pose Estimation

We present AnyHand, a large-scale synthetic dataset designed to advance the state of the art in 3D hand pose estimation. While recent works with foundation approaches have shown that scaling training data markedly improves hand pose estimation, existing real-world datasets are limited in coverage, and prior synthetic datasets rarely provide occlusions, arm details, and aligned depth together at scale. To address this bottleneck, our proposed AnyHand contains 2.5M single-hand and 4.1M hand-object interaction RGB-D images, with rich geometric annotations. We show that extending the original training data recipes of existing RGB baselines with AnyHand yields significant gains on multiple benchmarks (FreiHAND and HO-3D), even when keeping the architectures and training schemes fixed. Together with extensive ablations on the scale and composition of the training data setups, these results suggest that training data diversity and quality are as critical as scale for advancing hand pose estimation. We further examine the utility of AnyHand's aligned depth maps in the appendix, showing that scaling RGB-D supervision with AnyHand allows a lightweight depth-fusion variant of existing RGB baselines to outperform prior RGB-D methods.

cs.CV↗