Author

Ao Yan

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Preprint Sep 2026

Safe Task Planning with Long-Term Graph Memory for Embodied Agents

Large language models (LLMs) and vision-language models (VLMs) have significantly advanced zero-shot task planning for embodied agents. However, most LLM- and VLM-driven methods struggle to generate safe high-level actions due to a lack of physical risk awareness, particularly under partial observability, where hazards...

Si-Yuan Li, Tai-Yan Lang, Ao Yan et al. · 0 citations

#artificial intelligence Preprint Sep 2026

SkillGLoW: Procedural-Family Skill Consolidation for Self-Improving Agents on Long-Horizon Task Streams

This work argues the missing unit of reuse is the solving procedure shared by a cluster of related tasks, and builds SkillGLoW (Global-Local Weave) around it: the local skills a task writes from its own execution are aggregated into procedural families and compressed into de-instantiated global priors.

Ao Yan, Xin Zhang, Jiawei Du et al. · 0 citations