Authors

Shaoxuan Xie

Publications 2

Preprint Open access

EMBER-Bench: Benchmarking Cross-Event Causal Memory in Long-Horizon Embodied Tasks

Aoyang Cai, Boning Zhao, Shaoxuan Xie et al. · 2026

Lifelong physical agents must reason over extended interactions where past events continue to shape the world long after they disappear from view. Beyond recalling what happened, agents must infer how history changes the current state and constrains future actions. Yet existing embodied and video-memory benchmarks larg …

Preprint Open access

RoboCoach: World Models as Active Coaches for Compositional Robot Skills

Jiajun Liu, Yifan Chen, Yichao Liu et al. · 2026

Long-horizon robot manipulation reuses skills across many task compositions, but improving these compositions with additional end-to-end demonstrations is costly. A practical self-improving system must decide both what to teach next and where to apply that supervision. We present ROBOCOACH, a world-model-guided coachin …

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