Author

Wen-Tao Zhao

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Preprint Sep 2026

Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning

Constructing action targets from measured robot motion is an established approach in imitation learning. Under interaction constraints, however, command-state discrepancy may reflect control demands that motion alone does not capture. We investigate when this information matters and how to exploit it. Across three real...

Pei-Yan Li, Yue-Ran Tao, Enhao Zhang et al. · 0 citations

Jul 2026

GAUGE: Grading Agent-Built Financial Models Without a Golden Answer

GAUGE is introduced, a benchmark for evaluating agent-built valuation models against observed analyst practice rather than a single point answer, and current agents are substantially stronger at model construction than valuation judgment.

Jiacheng Lu, Si-Nuo Wang, Wentao Zhao et al. · arXiv.org · 1 citation