Author

Hong-Ye Cao

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#artificial intelligence Preprint Sep 2026

DynaHarness: A Dynamic Physical Harness for Self-Evolving Robot Agents

Pretrained robot policies provide useful action priors, but long-horizon manipulation still requires coordination between semantic reasoning and physical execution. Semantic reasoning operates at a coarser timescale than physical interaction, while episode-level failures provide limited guidance on which system compone...

Hao-Yuan Deng, Jie-Bin Liu, Teng-Xiao Zhang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

AD-WM: Action-Discriminative World Models for Counterfactual Model Predictive Control

Latent world models are typically trained to predict factual transitions, whereas model predictive control (MPC) must compare alternative actions from the same state. A model can therefore achieve low factual prediction error yet poorly distinguish candidate actions. We introduce AD-WM, an action-discriminative joint-e...

Jia-Bin Qiu, Zi-Xuan Chen, Hong-Ye Cao et al. · 0 citations