Author

Hao-Tian Zhai

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Preprint Oct 2026

Whole-Body Motion Guided Reference Generation for Uncertainty-Aware Compliant Assistance

Exoskeletons have shown great potential for augmenting human physical capabilities, yet generating reliable assistance remains challenging because human motion patterns and interaction requirements vary substantially in practice. To address this problem, a dual-loop assistance strategy is proposed to couple multimodal...

Mu-Yuan Ma, Long Cheng, Li-Jun Han et al. · 0 citations

#artificial intelligence Preprint Oct 2026

AtomTree: A Hierarchical Framework for State-Aware Embodied Instruction Following with LLMs

AtomTree is presented, a hierarchical framework for state-aware task planning with LLMs that incrementally builds a tree of subgoals and actions, where the LLM decides at each step, from the current symbolic state, whether to further decompose or to output a grounded low-level action.

Hao-Tian Zhai, Tian-Ming Sha, Jun-Nan Li · 0 citations