Author

Fei Han

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Preprint Sep 2026

AquaMend: Minimal Re-probing and Conditional Rollback for Latent-Belief Failures in Embodied Agents

Across 32 paired scenarios in a self-constructed simulation benchmark, AquaMend recovers in 28/32 cases and reduces mean complete loss by 21.6% versus restart, and its paired loss difference from decision-theoretic troubleshooting (DTT) is not statistically significant after Holm correction.

Yu-Fan Liu, Shang Luo, Yang Liu et al. · 0 citations

Preprint Aug 2026

Long SKILL Compliance as Logical Reasoning: Closure-Grounded Detection with Scaling-Guided On-Policy Distillation

Comparative experiments conducted on four checkpoints from a single model family validate a concise and effective scaling trend: end-to-end detection correctness exhibits a complexity-differentiated scaling pattern, and the complexity metric derived from the constraint dependency graph can effectively quantify instance...

Shuai Zhao, Fengmei Ni, Lichao Ma et al. · 0 citations