Jiaqi Peng — Papers on Cortexa

arxivcs.ROcs.AIcs.CV2026-07-06

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

Jiaqi Peng, Xiqian Yu, Delin Feng, Yuqiang Yang, Wenzhe Cai, Jing Xiong, et al.

While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations. Hierarchical dual-system methods address this but suffer from a gap b…

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arxivcs.RO2026-07-06

InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization

Haoxiang Ma, Junhao Cai, Xiaoxu Xu, Hao Li, Yuyin Yang, Yang Tian, et al.

Unified models for robot manipulation aim to equip one policy with both the semantic priors of pretrained VLMs and the physical dynamics learned through future prediction. In practice, existing designs tend to erode the semantics of the pretrained backbone, suffer interference am…

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