Author

Jie-Hong Lin

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#artificial intelligence Preprint Oct 2026

MobiAgent: Dual-Loop Recursive Policy Self-Improvement for Long-Horizon Mobile Manipulation

Long-horizon mobile manipulation presents significant challenges due to compounding execution errors and capacity interference between locomotion and arm control. While recent Vision-Language-Action models excel at short-horizon tasks, they lack the hierarchical reasoning required for multi-stage objectives. Furthermor...

Chen-Zhi Liu, Yue Zhang, Jie-Hong Lin et al. · 0 citations

#artificial intelligence May 2026

When to Trust Imagination: Adaptive Action Execution for World Action Models

Future Forward Dynamics Causal Attention (FFDC), a lightweight verifier that reasons over predicted actions, predicted visual dynamics, real observations, and instruction-conditioned semantics, is proposed that allows continued execution when a plan remains reliable and triggers replanning when its validity deteriorate...

Rui Wang, Yue Zhang, Jie-Hong Lin et al. · arXiv.org · 22 citations · ⚡1