Author

Liping Song

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Preprint Aug 2026

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

BICPO-VLA addresses the request-to-handoff gap by reducing iterative refinement in the original action space and applies reference-relative Flow-DPO among behaviorally matched candidates, adapting the generated chunk to the remaining request-to-handoff mismatch without changing its intended behavior.

Ming Shang, Yuchen Huang, Jiaoyang Chen et al. · 1 citation