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Mingkan Zhang

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Dec 2025

Embodied Tree of Thoughts: Deliberate Manipulation Planning With Embodied World Model

Embodied Tree of Thoughts (EToT), a novel Real2Sim2Real planning framework that leverages a physics-based interactive digital twin as an embodied world model, is validated on a suite of short- and long-horizon manipulation tasks, where it consistently outperforms baselines by effectively predicting physical dynamics and adapting to potential failures.

Wenjiang Xu, Mingkan Zhang, Cindy Wang et al. · 2 citations