Author

Changbo Wang

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#artificial intelligence Preprint Oct 2026

MUCO: A Mani-Unit-Structured Manipulation Framework for Compositional Long-Horizon Robot Tasks

Learning and executing long-horizon robot manipulation as complete task trajectories raises data-collection costs, lim?its capability reuse, and causes local failures to cascade into later task stages. We introduce manipulation units (MUs) as reusable operations, each defined by a local goal, an initi?ation condition,...

Xiang-Yi Wei, Han-Zhe Yao, Jing-Wen Shang et al. · 0 citations

Jul 2026

h-Flow: Flexible Flow-based Image Editing via Doob's h-Transform

Editing images with pre-trained text-to-image flow models typically requires carefully balancing target alignment with the desired prompt and source consistency with the original image. Existing approaches either rely on inversion-based pipelines or heuristic source-to-target trajectory constructions, which often depen...

Zehui Guo, Zhen Wang, Junwei Shu et al. · arXiv.org · 0 citations