Author

Kai Liu

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Preprint Sep 2026

DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement

Method is presented, a dual-system WAM that preserves broader-horizon world-action generation while enabling high-frequency closed-loop action updates by decoupling global planning and local refinement and shows that it naturally supports edge--cloud deployment with substantially lower communication overhead than the b...

Yi-Xin Zheng, Jiangran Lyu, Yun-Tian Deng et al. · 0 citations

Preprint Aug 2026

GigaBrain-0.7: Scaling Embodied Foundation Models to Emergent Capabilities with a Three-System Architecture

This work presents GigaBrain-0.7, an embodied foundation model with substantially improved generalization across diverse robot embodiments, and introduces one-stage alignment training that jointly optimizes vision-language understanding and multi-embodiment action generation.

GigaBrain Team, An-Gen Ye, Axiang Sun et al. · 7 citations · ⚡1

Preprint Aug 2026

EvoHIL: Self-Evolving Reward and Flow-Matched Policy Optimization for Robust Human-in-the-Loop Reinforcement Learning

EvoHIL is presented, a unified framework that adapts the reward model, action generator, and visual do main within a staged human-in-the-loop learning process to improve task success, agreement with human-confirmation labels, motion smoothness, and completion time relative to human-in-the-loop and imitation baselines.

Shuoqing Zhang, Tongtong Cheng, Xiru Gao et al. · 0 citations