Authors

An-Chieh Cheng

Publications 2

Preprint Open access

Recova: Agent-Guided Failure Recovery for Autonomous Robotic Manipulation

Isabella Liu, An-Chieh Cheng, Johan Bjorck et al. · 2026

Manipulation failures can leave scenes in states from which a task policy cannot recover. Learning corrective behaviors requires scalable failure exploration and physical grounding. We present Recova, an agent-guided framework that jointly develops task execution and recovery in a reconstructed digital twin, then verif …

Preprint Open access

ASENA: Self-evolving Agents for Embodied Navigation

An-Chieh Cheng, Isabella Liu, Edmund Bu et al. · 2026

We present ASENA, an embodied agent system that connects general-purpose coding agents to robot sensing, computation, supervised execution, and persistent experience. Agents can write and execute programs, inspect recorded outcomes, repair failures, and reuse notes and executable skills while keeping their model weight …

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