Yue Su

Selected Publications

• World Guidance: World Modeling in Condition Space for Action Generation Yue Su, Sijin Chen, Haixin Shi, Mingyu Liu, Zhengshen Zhang, Ningyuan Huang, Weiheng Zhong, Zhengbang Zhu, Yuxiao Liu^†, Xihui Liu^† We propose WoG (World Guidance), a world modeling paradigm in condition space for action generation. ICML 2026  [arxiv] [code] [website]
• DSPv2: Improved Dense Policy for Effective and Generalizable Whole-body Mobile Manipulation Yue Su, Chubin Zhang, Sijin Chen, Liufan Tan, Yansong Tang, Jianan Wang, Xihui Liu^† Improved Dense Policy for Whole-body Mobile Manipulation, with effective perception, generalizable manipulation and coherent actions. ICRA 2026  [arxiv] [code] [website]
• Dense Policy: Bidirectional Autoregressive Learning of Actions Yue Su,^* Xinyu Zhan^*, Hongjie Fang, Han Xue, Haoshu Fang, Yong-Lu Li, Cewu Lu, Lixin Yang^† Propose Dense Policy, A bidirectional robotic autoregressive policy, which infers trajectories by gradually expanding actions from sparse keyframes, has demonstrated capabilities exceeding diffusion-based policies. ICCV 2025  [arxiv] [code] [website]
• Motion Before Action: Diffusing Object Motion as Manipulation Condition Yue Su,^* Xinyu Zhan^*, Hongjie Fang, Yong-Lu Li, Cewu Lu, Lixin Yang^† Propose MBA, a novel module that employs two cascaded diffusion processes for robot action generation under object motion guidance. Designed as a plug-and-play component, MBA can be flexibly integrated into existing robotic manipulation policies with diffusion action heads. RA-L 2025, ICRA 2026  [arxiv] [code] [website]