Author

Yuchen Huang

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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

Preprint Aug 2026

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

PBD-AG is presented, a persistent baseline-delta active graph framework that decouples robot-verified stable fixtures from revisable dynamic object events, and maintains reliability-weighted object states over geometry, semantics, identity, existence, and support relations.

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