Author

Benhui Zhuang

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Preprint Aug 2026

Automated Trajectory Evaluation for Mobile Agents via Step-Level Consequence Reasoning and Aggregation

Evaluating language-guided mobile agents has recently shifted from rule-based to model-based approaches to achieve scalable and automated assessments. However, existing holistic evaluation paradigms process entire trajectories at once, leading to substantial context overload. Moreover, they primarily focus on task comp...

Peng-Jian Yang, Zijing Gao, Xue Yu et al. · 1 citation

Preprint Aug 2026

World Tokens: Enhancing Embodied Policies with Training-Time World Modeling

World Tokens is an embodied policy architecture built around a World Adapter that bridges visual-language understanding, world-dynamics modeling, and action generation and is highly competitive on LIBERO, attains the best reported averages on SIMPLER, and substantially improves real-world R1 Pro success over a matched...

Qu Tang, Benhui Zhuang, Bo Yuan et al. · 2 citations · ⚡1