Author

Hanli Wang

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#artificial intelligence Preprint Sep 2026

MaskHarness-WAM: Instance-Grounded Harnessing for Long-Horizon Robot Manipulation

Experiments on a real robot platform demonstrate that MaskHarness-WAM substantially outperforms limited-horizon policies on sequential multi-object manipulation, showing its effectiveness in extending local manipulation skills to reliable long-horizon execution.

Zi-Tai Huang, Taiyi Su, Jian Zhu et al. · 0 citations

Preprint Jul 2026

Learning 4D Geometric Priors for Inference-Efficient World Action Models

MECo-WAM is proposed, a Multi-Expert Co-Training World Action Model that injects action-relevant 4D geometric priors into video-action representations while preserving the original lightweight inference graph.

Jianjun Zhang, Jian Zhu, Taiyi Su et al. · 5 citations