Author

Hao-Zhe Jiang

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Preprint Sep 2026

OmniTaskonomy: When Does Visual Generation Improve Visual Understanding?

Training a model to generate visual content can encourage it to learn rich perceptual capabilities related to geometry, spatial relationships, and objectness; yet, its benefits for visual understanding remain unclear. We ask: when and how does visual generation supervision improve visual understanding? We study control...

Jia-Xin Ge, Yi-Ming Qin, Ji Xie et al. · 0 citations

#artificial intelligence Preprint Oct 2026

Reconstruct, Practice, Go Real: Guided Self-Improvement for Embodied Agents

Building reliable robot capabilities across diverse tasks requires substantial human effort to develop and maintain skills, design rewards, and integrate perception with control. We present Reconstruct, Practice, Go Real (RPG), a framework for autonomous improvement of robot execution systems without updating model wei...

Yen-Jen Wang, Hao-Zhe Jiang, Shu-Ying Deng et al. · 0 citations