Author

Chaofan Ma

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#artificial intelligence Preprint Oct 2026

SERO: Learning from Executable Oracle Continuations for Long-Horizon Agentic Reinforcement Learning

Long-horizon agentic RL is constrained by the futures visited by the current policy. When rollouts fail to reach useful behaviors, improved credit assignment cannot provide supervision for states and actions that were never encountered. On-policy distillation (OPD) introduces teacher guidance on policy-induced states,...

Ding-Yi Rong, Yue Shi, Chaofan Ma et al. · 0 citations

Preprint Aug 2026

TRACE-Bench: Decomposing and Diagnosing Multi-Reference Image Generation

Recognizing that diverse multi-reference tasks share a common set of atomic operations, this work formalizes four operators: Anchor, Disentangle, Disentangle, Apply, and Compose, and constructs TRACE-Bench, comprising approximately 1,600 evaluation cases across slot counts 1--8.

Haoran Wang, Chaofan Ma, Ran Yi et al. · 0 citations

Preprint Aug 2026

H2R-Bench: Benchmarking Human-to-Robot Manipulation Video Generation in World Models

H2R-Bench provides a systematic diagnostic framework for evaluating whether video world models can bridge the human-to-robot embodiment gap and convert human manipulation observations into robot-centric training resources.

Ding-Yi Rong, Yue Shi, Chaofan Ma et al. · 1 citation