Authors

Hongye Cao

Publications 2

Preprint Open access

DynaHarness: A Dynamic Physical Harness for Self-Evolving Robot Agents

Haoyuan Deng, Jiebin Liu, Tengxiao Zhang et al. · 2026

Pretrained robot policies provide useful action priors, but long-horizon manipulation still requires coordination between semantic reasoning and physical execution. Semantic reasoning operates at a coarser timescale than physical interaction, while episode-level failures provide limited guidance on which system compone …

Preprint Open access

AD-WM: Action-Discriminative World Models for Counterfactual Model Predictive Control

Jiabin Qiu, Zixuan Chen, Hongye Cao et al. · 2026

Latent world models are typically trained to predict factual transitions, whereas model predictive control (MPC) must compare alternative actions from the same state. A model can therefore achieve low factual prediction error yet poorly distinguish candidate actions. We introduce AD-WM, an action-discriminative joint-e …

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