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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Zeyang Liu

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2026

DualSkill: Unifying Discrete Stability and Continuous Flexibility for Embodied Control

Learning to execute complex, multi-stage tasks requires skill representations that are both compositionally stable and adaptive in execution. Existing hierarchical approaches often face a fundamental trade-off: continuous skills suffer from representational drift due to unconstrained embedding boundaries, while discret...

Ziru Wang, Long Qian, Hao-Wen Sun et al. · 0 citations
Conference Open access Sep 2026

Safety-Aware Shared Autonomy via World-Model Constrained Planning

World Model Assisted Safety Planning is proposed, a model-predictive shared autonomy framework for explicit safety constraint satisfaction that substantially reduces safety violations while preserving task performance and reducing unnecessary interventions over prior shared autonomy baselines.

Zecheng Shi, Jia-Wei Ye, Zeyang Liu et al. · 0 citations

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