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Xinyu Guo

2 papers indexed

arxivcs.AI2026-07-16

CFM-Bench: A Unified Multi-Domain, Multi-Task Benchmark for Channel Foundation Models

Yuan Gao, Wenjun Yu, Jun Jiang, Yunfan Li, Xinyu Guo, Shugong Xu

Channel foundation models (CFMs) are developing rapidly, with recent studies reporting benefits from pretraining across downstream wireless tasks. Yet CFMs are commonly evaluated in model-specific pipelines with different data, radio configurations, partitions, adaptation procedu…

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arxivcs.RO2026-07-03

Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation

Pengwei Zhang, Bin Xie, Xinpan Meng, Xinyu Guo, Ce Hao, Fang Deng, et al.

Tactile perception is indispensable for contact-rich manipulation, yet integrating it into Vision-Language-Action (VLA) models often induces modality collapse, where high-bandwidth visual features overshadow sparse tactile cues. Inspired by Predictive Coding, a neural mechanism w…

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