Author

Zhi-Wei Yu

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Preprint Aug 2026

From Failures to Supervision: DynamicEnvPlan for Robust Long-Horizon Embodied Planning

This work introduces DynamicEnvPlan, a closed-loop framework for high-level planning in dynamic environments that extends embodied task execution with humanoid agents, high-level primitive skills, structured semantic memory, and controllable perturbations.

Hao Yuan, Yuxin Wang, Lei Ji et al. · 0 citations

Preprint Aug 2026

Beyond Instance Slots: Semantically Rich World Models for Physical Interaction Planning

The Semantically Rich World Model is presented, a task-conditioned world model structured around five functional roles: gripper, target, goal, relation, and phase, which transforms object-centric prediction into a semantic interface linking visual dynamics with planning-oriented decision making.

Juntao Cheng, Jingkai Wang, Yi-Jun Shen et al. · 1 citation