2 papers
cs.AI2026
Learning to Compose: Recursive Self-Improvement of Shared Executable Stacks for Zero-Shot Long-Horizon Robot Manipulation
Yangzhi Chen, Feiran Liu, Zishuo Wang +4
Individually competent robot skills can fail when composed: tools may lack a required capability, completion signals may misrepresent physical progress, and one skill may leave a s…
cs.RO2026
S2-HWM: Sparse Event-Structured Hierarchical World Model for Long-Horizon Surgical Robot Manipulation
Shuzhe Zhang, Xin Zhu, Yinling Qian +1
Long-horizon surgical robot manipulation is challenging because task rewards are sparse, while meaningful interaction changes occur at irregular intervals. Existing world-model age…