Author

Xue-Zhi Cao

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#artificial intelligence Preprint Sep 2026

2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation

Long-horizon robot manipulation requires memory, but not necessarily inside the action policy. To address such tasks, current agentic systems often combine VLAs with planners and geometric tools, sometimes using additional depth or calibrated geometry. These systems confound attribution: gains may come from richer obse...

Yu-Tong Hu, Feng Chen, Xue-Zhi Cao et al. · 1 citation · ⚡1

Jul 2026

ClawTrack: Towards Trace-Level Evaluation and Improvement of Real-World Autonomous Agents

ClawTrack is presented, a dual-assessment benchmark that simultaneously measures what an agent achieves (Task Score) and how it achieves it (Process Score) and finds that process scores effectively attribute success and failure to specific reasoning dimensions, filtering lucky passes invisible to outcome-only evaluatio...

Xingjian Wu, Xuhan Zhu, Xing-Chen Liu et al. · arXiv.org · 0 citations

Jul 2026

Contrastive Reinforced Policy Optimization via Privileged Self-Distillation

Contrastive Reinforced Policy Optimization (CRPO) is introduced, which reformulates agentic OPSD from a contrastive learning perspective, and conducts group-wise contrast to preserve reliable, fine-grained optimization signals.

Xingjian Wu, Junlin Liu, Xing-Chen Liu et al. · arXiv.org · 2 citations