ABot-M0.5: Unified Mobility-and-Manipulation World Action Model

Mobile manipulation is a key capability for general-purpose robots, yet remains challenging for current embodied learning methods. VLA policies are typically reactive and lack explicit world modeling, while existing World Action Models (WAMs) are still poorly aligned with the structure of mobile manipulation: they operate on coarse video chunks, model entangled navigation-manipulation actions, and train inverse dynamics under supervision that does not match autoregressive inference. As a result, they often miss fine-grained contact dynamics, suffer from action-distribution conflicts, and accumulate errors over long-horizon rollouts. We propose ABot-M0.5, a new WAM built on the insight that mobile manipulation requires alignment at three levels: temporal granularity, action space, and train-test consistency. To align temporal granularity, we introduce intermediate latent actions that capture local visual state transitions and serve as an bridging action space between video latents and embodiment-specific controls. To align action space, we design a dual-level Mixture-of-Transformers architecture that disentangles both modality representations and heterogeneous action subspaces such as base movement and arm manipulation. To align inference conditions, we propose the dream-forcing training strategy that progressively trains inverse dynamics on model-predicted videos, improving train-test alignment and robustness during autoregressive prediction. Experiments on challenging mobile and fine-grained manipulation benchmarks demonstrate that ABot-M0.5 achieves state-of-the-art performance in both long-horizon task success and finegrained control accuracy. These results highlight the critical importance of granularity-aligned, action-disentangled, and inference-consistent world-action modeling.

A multi-strategy improved gazelle optimization algorithm for solving numerical optimization and engineering applications

Aiming at the shortcomings of the gazelle optimization algorithm, such as the imbalance between exploration and exploitation and the insufficient information exchange within the population, this paper proposes a multi-strategy improved gazelle optimization algorithm (MSIGOA). To address these issues, MSIGOA proposes an iteration-based updating framework that switches between exploitation and exploration according to the optimization process, which effectively enhances the balance between local exploitation and global exploration in the optimization process and improves the convergence speed. Two adaptive parameter tuning strategies improve the applicability of the algorithm and promote a smoother optimization process. The dominant population-based restart strategy enhances the algorithms ability to escape from local optima and avoid its premature convergence. These enhancements significantly improve the exploration and exploitation capabilities of MSIGOA, bringing superior convergence and efficiency in dealing with complex problems. In this paper, the parameter sensitivity, strategy effectiveness, convergence and stability of the proposed method are evaluated on two benchmark test sets including CEC2017 and CEC2022. Test results and statistical tests show that MSIGOA outperforms basic GOA and other advanced algorithms. On the CEC2017 and CEC2022 test sets, the proportion of functions where MSIGOA is not worse than GOA is 92.2% and 83.3%, respectively, and the proportion of functions where MSIGOA is not worse than other algorithms is 88.57% and 87.5%, respectively. Finally, the extensibility of MSIGAO is further verified by several engineering design optimization problems.