Author

Zhi-Yue Zhao

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Preprint Aug 2026

AdvDex: Learning Dexterous Manipulation from Human Demonstrations via Joint-Aligned Actions and Adversarial Learning

Dexterous manipulation is a fundamental capability for embodied intelligence, but scaling it remains difficult because robot demonstrations are expensive to collect and action spaces vary across embodiments. Policies trained on heterogeneous data can also entangle task-relevant visual cues with embodiment-specific appe...

Zhi-Yue Zhao, Jing Wu, Hairuo Liu et al. · 0 citations

#artificial intelligence Preprint Aug 2026

Spatial Memory Agent: Experience-Grounded Procedure Memory for Spatial Intelligence

SMA achieves the highest macro average in every base-model block and the best accuracy among the evaluated methods in most of the 20 evaluations, establishing a practical parameter-update-free path for spatial self-evolution across the evaluated frozen model scales and environments.

Haokai Zhang, Yuhang Ding, Yunshu Zhou et al. · 0 citations