Author

Yansong Tang

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Preprint Sep 2026

From Passive Execution to Active Exploration: Agentic Embodied Manipulation in Realistic Environments

This work proposes an agent-based active exploration framework that enables robots to dynamically interact with the environment rather than merely execute predefined instructions, and introduces a fine-grained perception-execution interleaving strategy, which tightly couples visual feedback with skill execution to impr...

Shi-Lin Ma, Chu-Bin Zhang, Xu-Long Bai et al. · 0 citations

Preprint Aug 2026

SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation

Skill-Based Memory (SkillMemo) framework is proposed that implicitly decomposes long-horizon demonstrations into latent atomic skills and integrates skill-level features into a dynamic episodic memory bank for solving compositional tasks and consistently enhances both DP and VLA backbones.

Changyuan Wang, Chu-Bin Zhang, Zhen-Yu Wu et al. · 0 citations