Author

Yizhuo Li

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Preprint Sep 2026

XPACE: Joint World and Action Modeling from Heterogeneous Experience

A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions will change the world. We introduce XPACE, a unified embodied world model that serves as both a world action model, jointly predicting executable robot actions and future video, and a world simulator, predictin...

Jiacheng Wei, J. Bai, X. Yue et al. · 1 citation

Preprint Aug 2026

MemOPD: On-Policy Distillation through Memory State Alignment for Long-Horizon Agents

MemOPD records the inputs and sampled outputs of each model invocation, restores its original token positions and causal visibility, and packs the reconstructed invocations for efficient teacher scoring, which improves F1 over PPO by up to 4162%, while packing yields up to a 1.63x speedup in actor computation during tr...

Zhiyuan Liu, Tinghong Ye, Chenghao Liu et al. · 0 citations