Author

Yong Wang

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Preprint Nov 2026

BLPO: Beyond-Local Policy Optimization for Long-Horizon LLM Agents

Long-horizon tasks require large language model (LLM) agents to coordinate interdependent actions, a capability central to automating complex workflows. Stepwise group-based reinforcement learning provides finer credit than trajectory-level supervision, but reliable comparisons must account for differences in interacti...

Xuan-Ren Chen, Chong-Yang Tao, Wen-Peng Hu et al. · 0 citations

Preprint Sep 2026

Know Your Body: A Harness for Direct and Self-Improving Robot Control with VLMs

A general-purpose vision-language model can understand a task goal without knowing how a particular robot's motion and functional parts produce the intended effect. We introduce KnowBody, a harness that makes these action-relevant body relations explicit, queryable, and revisable while keeping the model weights frozen....

Zeyuan Lou, Yan-Hong Zeng, Yong Wang et al. · 0 citations