Author

Haotao Lu

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Preprint Sep 2026

EmbodiRSI: Recursive Self-Improvement for Data-Efficient Robot Adaptation

Adapting robot manipulation policies to new tasks and environments remains highly data-intensive, while the data needed for further improvement depends on the policy's current capabilities and failure modes. We introduce EmbodiRSI, an agentic system for recursive self-improvement (RSI) in a real-to-sim-to-real setting,...

Hao-Ran Lang, Hao-Tao Lu, Shi-Yu Sang et al. · 1 citation

Preprint Aug 2026

SelfWAM: A Self-Grounded Unified World Action Model for Fast Robot Control

SelfWAM is introduced, a unified self-grounded WAM built on a modality-specialized Mixture-of-Transformers (MoT) architecture that jointly predicts actions, action-conditioned future RGB frames, and robot self-masks, thereby grounding future prediction in the robot's visible body and its action-induced motion.

Bikang Pan, Fan Liu, Haotao Lu et al. · 5 citations