Yongjie Bai — Papers on Cortexa

arxivcs.RO2026-07-18

PhyAgentOS: A Self-Evolving Operating System for Embodied Agents with Decoupled Cognitive Planning and Physical Execution

Yang Liu, Weixing Chen, Xinshuai Song, Tao Pu, Siwen Mo, Yongjie Bai, et al.

Vision-language-action models, world models, and agentic planners each advance physical intelligence, yet their composition lacks a common execution abstraction, shared state, semantic verification, and persistent experience across heterogeneous embodiments. We present PhyAgentOS…

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arxivcs.RO2026-07-02

Bridge-WA: Predicting Where and How the World Changes for Robotic Action

Yongjie Bai, Hanting Wang, Mingtong Dai, Qijun Zhong, Yang Liu, Liang Lin

General-purpose vision-language-action models benefit from large vision-language priors, but effective manipulation also requires anticipating action-relevant scene changes. Existing world-action models often rely on large generative world models or dense future rollouts, which a…

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