Author

Peng Liu

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Preprint Sep 2026

Revision, Not Restart: Revisable Visual Plans for Closed-Loop World-Action Models

World-action models use predicted visual futures to condition robot actions, yet execution feedback can invalidate parts of a prediction while leaving its task structure useful. We propose Revisable Temporal Planning (RTP), which maintains the visual future as a persistent action condition and revises it after feedback...

Peng Liu, Jun-Bo Niu, Wen-Hao Zheng et al. · 0 citations

Preprint Aug 2026

TRACE: Temporal Retrieval with Anchored and Convergent Evidence for Long-Horizon Video Understanding

VES-Bench, a 600-question benchmark of Temporal Ordering and Event Counting items over 348 public long videos, is introduced and TRACE, a training-free agent that grounds answers in raw visual clips, builds an evidence bundle round by round, and stops only when the answer stabilises as the bundle grows and a final pass...

Peng Liu, Jun-Bo Niu, Xiaoyan Hu et al. · 2 citations