Author

Wenzhe Cai

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Jul 2026

X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching

A data-efficient diffusion RL post-training framework - GQRM (Group Q-score Reweighted Matching), which achieves state-of-the-art cross-embodiment visual navigation performance and introduces two complementary designs: a self-bootstrapped exploration strategy with behavior perturbation that preserves the pretrained pol...

Tian-Yu Yang, Yi-Ming Zeng, Wen-Zhe Cai et al. · arXiv.org · 0 citations

Preprint Jul 2026

Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation

Cortex is introduced, a bidirectionally aligned embodied agent framework with a customized planning interface that conveys executable and tractable subtask plans from high-level VLM to low-level VLA and enables zero-shot completion of unseen real-world long-horizon tasks.

Jiaqi Peng, Xiqian Yu, Delin Feng et al. · 1 citation