Author

Ze Chen

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Preprint Sep 2026

HaWMPO: Hallucination-Aware World Model-based Policy Optimization for Generalist Robot Policy

Generalist robot policies have demonstrated strong generalization across robotic manipulation tasks, yet their success rates remain limited in com- plex long-horizon scenarios. Recent methods improve Visual-Language-Action (VLA) policies through online reinforcement learning on real robots, but such training relies on...

Ze Chen, Pei-Dong Liu, Jiawei Li et al. · 0 citations

Preprint Aug 2026

Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation

Hierarchical Robotic Control (HiRoC) is proposed, a hierarchical post-training framework that decouples high-level task planning from low-level action execution and aligns the executor with planner-generated subgoals before reinforcement learning, mitigating the distribution misalignment between planning and execution.

He Kong, Ze Chen, Qi Wang et al. · 0 citations