Author

Yi-Zhou Zhou

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Preprint Sep 2026

AquaCap: A Training-Free Underwater Embodied Agent with Code-as-Policy

Recent advances in vision-language-action models have stimulated growing interest in underwater embodied intelligence. However, their reliance on large-scale interaction data limits their applicability underwater, where data collection is costly and scarce. To address this challenge, we present AquaCap, a training-free...

Xiao-Shi Li, Yu-Le Xu, Chung-Hiu Kong et al. · 0 citations

Preprint Sep 2026

DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement

World Action Models (WAMs) jointly generate robot actions and predict future world states, transferring priors from video pretraining to robot control. However, future visual prediction is computationally expensive, so existing WAMs often rely on long action chunks to amortize inference cost across control steps, at th...

Yi-Xin Zheng, Jiangran Lyu, Yun-Tian Deng et al. · 0 citations