Author

Bingchuan Wei

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Preprint Aug 2026

Selective Cross-View Consistency for World Action Models: Held-Out Viewpoint Robustness Without Test-Time Camera Information

World action models (WAMs) jointly denoise future video frames and robot actions, and the video prior is expected to generalize their control. Camera viewpoint change remains one of their hardest perturbation axes. We study a question specific to this model class: when training with same-state cross-view image pairs, o...

Bingqi Huang, Bingchuan Wei, Ying-Kai Cai et al. · 2 citations

Open access Aug 2026

Toward Self-Evolving Lunar Robotic Autonomy Through Contract-Governed Skill Registration

Permanent lunar habitation will require robotic systems that can maintain infrastructure, recover from local failures, and acquire new operational capabilities under limited Earth supervision. Existing planetary robots are largely fixed-function specialists, while end-to-end foundation-model policies remain difficult t...

Bingqi Huang, Bingchuan Wei, Ying-Kai Cai et al. · Astronautics · 0 citations

Preprint Aug 2026

Cross-View Action Consistency for Camera-Robust Vision-Language-Action Policies

Vision-language-action (VLA) policies fine-tuned from a fixed scene camera can fail when the camera is moved, even when the task, objects, language, and robot state are unchanged. We study scene-camera viewpoint robustness using only a scene RGB image, language, and proprioception, without camera labels, extrinsics, de...

Bingqi Huang, Bingchuan Wei, Xuan Wang et al. · 3 citations