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Zhi-Ming Ma

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#natural language process... Preprint Oct 2026

AdaRSI: On-Demand Recursive Self-Improvement for Embodied Agents

Pretrained vision-language-action models (VLAs) often fail midway through unseen long-horizon tasks. Recursive self-improvement (RSI) offers a remedy, but embodied RSI methods either refine the harness around a frozen executor and so cannot add a missing motion, or train the executor on persistent failures without aski...

Pei-Dong Wang, Ying Chang, Zhi-Ming Ma et al. · 4 citations
#natural language process... Preprint Aug 2026

Self-Evolving Embodied Agents via Skill-Harness Evolution

This work proposes SHAPER, a self-evolving framework for train-free embodied adaptation that keeps model parameters frozen and improves the non-parametric agent system by evolving reusable skills and a context-code harness through target-environment rollouts.

Pei-Dong Wang, Zhiming Ma, Ying Chang et al. · 7 citations · ⚡1

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