Author

Chen-Yang Wang

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Preprint Sep 2026

Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies

Learning chunk-based visuomotor policies for long-horizon robot manipulation remains challenging. Recent action-chunking methods have shown promising performance by predicting temporally extended action sequences. However, their failures are often dominated by prediction errors at a small number of critical timesteps r...

Chen-Yang Wang, Yun-Tian Wang, Xiao-Xiong Yang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Schema: Discovering Unknown Environments via Agentic Program Induction

Learning to complete tasks in unfamiliar environments with unknown rules remains a key challenge for LLM agents. Current LLM agents often record their discoveries in prose, which may not provide a compact, explicit account of how the environment works. Inspired by how scientists organize observations into testable, pre...

Guan-Ning Zeng, Jia-Ni Wang, Wenjie Ma et al. · 0 citations