Author

Yingping Liang

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Preprint Oct 2026

LoopWAM: Closed-Loop Generalist Policy Improvement from Deployment Rollouts

Scaling expert demonstrations alone does not enable generalist robot policies to improve from deployment. Real-world rollouts contain successes, suboptimal behavior, and failures: imitating every recorded action can reinforce poor behavior, while filtering out failures discards evidence of physical interactions and the...

Wen-Xuan Guo, Ying-Ping Liang, Zhao-Guo Wang et al. · 0 citations

Preprint Aug 2026

HiSC: Hierarchical Spatial Clustering Token Compression for Efficient 3D Scene Understanding

A training-free framework for hierarchical spatial clustering token compression in 3D VLMs, which performs hierarchical compression across clusters and within clusters, preserving object instance completeness while retaining fine-grained details for important regions.

Jiuhe Qu, Yingping Liang, Ying Fu · 0 citations