arXiv subjects

Delong Li

Publications and source records attributed to Delong Li.

6 recordsLinked to original sources

arXiv2026

X2-N: A Transformable Wheel-legged Humanoid Robot with Dual-mode Locomotion and Manipulation

Wheel-legged robots combine the efficiency of wheeled locomotion with the versatility of legged systems, enabling rapid traversal over both continuous and discrete terrains. However, conventional designs typically employ fixed wheels as feet and limited degrees of freedom (DoFs) at the hips, resulting in reduced stability and mobility during legged locomotion compared to humanoids with flat feet. In addition, most existing platforms lack a full upper body with arms, which limits their ability to perform dexterous manipulation tasks. In this letter, we present X2-N, a high-DoF transformable robot with dual-mode locomotion and manipulation. X2-N can operate in both humanoid and wheel-legged forms and transform seamlessly between them through joint reconfiguration. We further propose a reinforcement learning (RL)-based whole-body control framework tailored to this morphology, enabling control across hybrid locomotion, transformation, and manipulation. We validate X2-N in a range of challenging locomotion and manipulation tasks, including dynamic skating-like motion, stair climbing, and package delivery. Results demonstrate high

cs.RO↗

arXiv2026

A Parallel Approach to Counting Exact Covers Based on Decomposability Property

The exact cover problem is a classical NP-hard problem with broad applications in the area of AI. Algorithm DXZ is a method to count exact covers representing by zero-suppressed binary decision diagrams (ZBDDs). In this paper, we propose a zero-suppressed variant of decision decomposable negation normal form (in short, decision-ZDNNF), which is strictly more succinct than ZBDDs. We then design a novel parallel algorithm, namely DXD, which constructs a decision-ZDNNF representing the set of all exact covers. Furthermore, we improve DXD by dynamically updating connected components. The experimental results demonstrate that the improved DXD algorithm outperforms all of state-of-the-art methods.

cs.AI↗

arXiv2026

SoK: Agentic Skills -- Beyond Tool Use in LLM Agents

Agentic systems increasingly rely on reusable procedural capabilities, \textit{a.k.a., agentic skills}, to execute long-horizon workflows reliably. These capabilities are callable modules that package procedural knowledge with explicit applicability conditions, execution policies, termination criteria, and reusable interfaces. Unlike one-off plans or atomic tool calls, skills operate (and often do well) across tasks. This paper maps the skill layer across the full lifecycle (discovery, practice, distillation, storage, composition, evaluation, and update) and introduces two complementary taxonomies. The first is a system-level set of \textbf{seven design patterns} capturing how skills are packaged and executed in practice, from metadata-driven progressive disclosure and executable code skills to self-evolving libraries and marketplace distribution. The second is an orthogonal \textbf{representation $\times$ scope} taxonomy describing what skills \emph{are} (natural language, code, policy, hybrid) and what environments they operate over (web, OS, software engineering, robotics). We analyze the security and governance implications of skill-based agents, covering supply-chain risks, prompt injection via skill payloads, and trust-tiered execution, grounded by a case study of the ClawHavoc campaign in which nearly 1{,}200 malicious skills infiltrated a major agent marketplace, exfiltrating API keys, cryptocurrency wallets, and browser credentials at scale. We further survey deterministic evaluation approaches, anchored by recent benchmark evidence that curated skills can substantially improve agent success rates while self-generated skills may degrade them. We conclude with open challenges toward robust, verifiable, and certifiable skills for real-world autonomous agents.

cs.CR↗

arXiv2026

Ecosystem service demand relationship and trade-off patterns in urban parks across China

Understanding public demand for urban ecosystem services (ES) is crucial for effective green space management, yet the intricate relationships and potential trade-offs among these diverse demands remain poorly understood. Previous studies have yielded inconsistent findings, often limited by small samples or reliance on indirect proxies. Here, we provide the first national-scale, direct assessment of the relationship among demands for nine urban park ES using a survey dataset comprising 20,075 responses across China and a point-allotment experiment that directly quantifies the trade-off patterns among service demands. We found particularly strong preferences among urban residents in China for air purification and recreation services, at the expense of other services. These preferences were further reflected in three distinct demand bundles: air purification-dominated, recreation-dominated, and balanced demands, each delineating a typical group of people with distinct representative characteristics. Socio-economic and environmental factors, such as age, environmental interest, and mean annual precipitation, significantly influence the trade-off intensity among service demands. Our study pioneers the direct, quantitative analysis of relationships among ecosystem service demands, and the results underscore the need for tailored urban park designs that address diverse service demands to sustainably enhance the quality of city life in China and beyond.

econ.GN↗

arXiv2025

WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to a limited workspace, preventing it from performing large-space loco-manipulation. We attribute this to: (1) the challenge of acquiring loco-manipulation knowledge due to the scarcity of humanoid teleoperation data, and (2) the difficulty of faithfully and reliably executing locomotion commands, stemming from the limited precision and stability of existing RL controllers. To acquire richer loco-manipulation knowledge, we propose a unified latent learning framework that enables Vision-Language-Action (VLA) system to learn from low-cost action-free egocentric videos. Moreover, an efficient human data collection pipeline is devised to augment the dataset and scale the benefits. To execute the desired locomotion commands more precisely, we present a loco-manipulation-oriented (LMO) RL policy specifically tailored for accurate and stable core loco-manipulation movements, such as advancing, turning, and squatting. Building on these components, we introduce WholeBodyVLA, a unified framework for humanoid loco-manipulation. To the best of our knowledge, WholeBodyVLA is one of its kind enabling large-space humanoid loco-manipulation. It is verified via comprehensive experiments on the AgiBot X2 humanoid, outperforming prior baseline by 21.3%. It also demonstrates strong generalization and high extensibility across a broad range of tasks.

cs.RO↗

arXiv2023

To better understand realized ecosystem services: An integrated analysis framework of supply, demand, flow and use

Realized ecosystem services (ES) are the actual use of ES by societies, which is more directly linked to human well-being than potential ES. However, there is a lack of a general analysis framework to understand how much ES was realized. In this study, we first proposed a Supply-Demand-Flow-Use (SDFU) framework that integrates the supply, demand, flow, and use of ES and differentiates these concepts into different aspects (e.g., potential vs. actual ES demand, export and import flows of supply, etc.). Then, we applied the framework to three examples of ES that can be found in typical urban green parks (i.e., wild berry supply, pollination, and recreation). We showed how the framework could assess the actual use of ES and identify the supply-limited, demand-limited, and supply-demand-balanced types of realized ES. We also discussed the scaling features, temporal dynamics, and spatial characteristics of realized ES, as well as some critical questions for future studies. Although facing challenges, we believe that the applications of the SDFU framework can provide a systematic way to accurately assess the actual use of ES and better inform management and policy-making for sustainable use of nature's benefits. Therefore, we hope that our study will stimulate more research on realized ES and contribute to a deeper understanding of their roles in enhancing human well-being.

econ.GN↗