Author

Jun-Bo Tan

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#artificial intelligence Preprint Sep 2026

ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC

In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is...

Zhe Gan, Yan-Bo Chen, Li-Rong Che et al. · 0 citations

Preprint Aug 2026

Retrieve in Time, Correct in Frequency

Retrieve in Time, Correct in Frequency (RTCF), a training-free test-time correction framework that improves frozen VLA performance with low model-side overhead and requires no parameter updates, repeated VLA inference, or additional GPU resources.

Yuze Fan, Yue Cao, Peng-Jie Gao et al. · 0 citations

Preprint Aug 2026

HERA: Historical Evidence Routing Adapter for Physical Prediction in Latent World Models

HerA (Historical Evidence Routing Adapter) is introduced, a framework for routing retained historical evidence into a frozen latent predictor, and RRPM, a lightweight adapter comprising a Structured Memory Bank, Memory Registers, and Workspace Registers support historical evidence routing as a practical adaptation stra...

Yuanruyi, Yue Cao, Hao-Jia Gao et al. · 1 citation