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Author

Wanqi Zhong

4 papers indexed here

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#artificial intelligence Preprint Oct 2026

RIFAR: Reliability and Forgetting-Aware Replay for Continual Robot Learning

Genuine embodied agency requires robots to turn continuous real-world experience into lasting, transferable skills. This demands continual learning that integrates new capabilities without eroding prior knowledge as tasks and environments evolve. Experience replay mitigates forgetting, but storing complete demonstratio...

Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al. · 0 citations
#artificial intelligence Preprint Jun 2026

Planning Takes More Than Token Prediction: Causal Plan for Benchmarking and Building Physically Grounded Embodied Reasoners

This work introduces Causal-Plan-Bench, a high-fidelity diagnostic suite spanning four causal dimensions, curated via multi-stage verification, and initiate the first effort to turn agents from superficial token predictors into physically grounded causal reasoners, bridging language modeling and world modeling.

Zi-Rong Song, Zheng Lu, Ming-Qi Gao et al. · 3 citations
#machine learning Preprint Sep 2026

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

Vision-Language-Action models and World-Action Models have advanced language-conditioned robotic manipulation, yet often leave metric relations among actions, objects, and scene geometry implicit. Human manipulation combines semantic understanding of task-relevant objects with spatial feedback that guides hand motion r...

Li-Jie Wang, Zheng Lu, Yi-Ming Wang et al. · 0 citations
#artificial intelligence Preprint Sep 2026

LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies

Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hierarchical visual-semantic representations that evolve across layers, from local visual geometry to abstract, language-aligned semantics; different manipulation tasks may...

Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al. · 2 citations

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