Author

Yuchen Huang

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Preprint Aug 2026

BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control

The request-to-handoff gap has three coupled sources: ambiguity about the behavior intended at request time, physical-state drift accumulated during action generation, and residual incompatibility when the new action finally assumes control. BICPO-VLA addresses them in sequence. First, an instruction-aware causal histo...

Ming Shang, Yuchen Huang, Jiaoyang Chen et al. · 0 citations

Preprint Aug 2026

PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots

Long-horizon service robots require persistent world models that can be built autonomously in unseen environments and revised as task-relevant objects change. Existing methods rely on online mapping, which accumulates localization and observation errors, static scene representations that cannot capture persistent objec...

Shuo Bao, Wei Dong, Shu-Yue Zhang et al. · 0 citations