Author

Cheng-Hao Yue

3 papers indexed here

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Preprint Oct 2026

PRISM: Precision Forcing for Generalist Vision-Language-Action Policies

Simulation and real-robot experiments show that PRISM preserves or improves general-task performance while raising mean end-to-end success from 38.3% to 86.7% across drive connector insertion, bimanual connector mating, and screw tightening, substantially extending the precision boundary of existing embodied policies w...

Cheng-Hao Yue, Pei-Yan Li, Hao Wang et al. · 0 citations

#artificial intelligence Preprint Oct 2026

SpikeSSL: A Universal Spike Inference Framework with Dynamics-Informed State-Space Layers

Two-photon calcium imaging is a standard tool for recording large neural populations in vivo, yet inferring spikes accurately across the growing diversity of calcium indicators remains an open problem. Existing supervised methods achieve reasonable in-domain accuracy but generalize poorly to unseen indicators, because...

Cheng-Hao Yue, Si-Ming Xing, Shu-Ran Liu et al. · 0 citations

Preprint Sep 2026

Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning

Constructing action targets from measured robot motion is an established approach in imitation learning. Under interaction constraints, however, command-state discrepancy may reflect control demands that motion alone does not capture. We investigate when this information matters and how to exploit it. Across three real...

Pei-Yan Li, Yue-Ran Tao, Enhao Zhang et al. · 0 citations