Author

Yiqing Xu

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Preprint Sep 2026

ECoMEM: Explicit Concept Memory for Memory-Dependent Robot Control

A robot may lose sight of an object it must later retrieve, need to recall what a person demonstrated earlier, or track which steps of a task it has already completed. Current vision-language-action (VLA) policies often fail once the information needed for action disappears from the current observation, making memory c...

Yi-Ze Liu, Ke Wang, Mac Schwager et al. · 0 citations

Preprint Jul 2026

APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughts

This work proposes APIVOT, a VLM-based planner that adaptively interleaves language and visual thoughts for long-horizon planning that outperforms general-purpose VLMs and prior planning frameworks, achieving the largest gains in spatially constrained settings.

Emily Jin, Joy Hsu, Yiqing Xu et al. · 0 citations