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

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--> [Submitted on 14 Aug 2026] Title:BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control View a PDF of the paper titled BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control, by Ming Shang and 10 other authors View PDF HTML (experimental) Abstract: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 history encoder identifies the behavior supported by the command and current task progress. Second, sequential Haar subspace generation decomposes each action chunk into complementary pairwise scaffold and residual coefficients, enabling two specialized generation stages followed by exact reconstruction. By reducing iterative refinement in the original action space, it shortens the interval over which the robot continues moving before the new chunk becomes available. Finally, BICPO rolls the known outgoing actions to the actual handoff state 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. Comments: 9 pages,4 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2608.13924 [cs.RO] (or arXiv:2608.13924v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.13924 arXiv-issued DOI via DataCite (pending registration) Submission history From: Ming Shang [view email] [v1] Fri, 14 Aug 2026 03:51:27 UTC (1,381 KB) Full-text links: Access Paper: View a PDF of the paper titled BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control, by Ming Shang and 10 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)