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Yuchen Yan

Publications and source records attributed to Yuchen Yan.

At least 19 recordsLinked to original sources
arXiv2026

Learning from Fleet Experience: Collective Experience Learning Across 96 Robots

Robot deployment generates experience that can support policy improvement, but continued reliance on expert corrective actions makes learning difficult to scale across growing fleets. We propose learning from fleet experience: using deployed robots' own executions as a source of supervision for further policy improvement. We call this paradigm Collective Experience Learning (CEL), in which robots pool execution experience to update a shared policy that returns to the fleet. Following expert-supervised initialization, we realize CEL through failure-guided experience retrieval fine-tuning (FERT). FERT uses failure contexts to retrieve relevant segments from successful trajectories and prioritizes their recorded actions for supervised updates, without collecting additional expert demonstrations or corrective actions. Operators provide binary episode-outcome labels and environment resets. A fault-tolerant asynchronous training system (FATS) coordinates robot execution, cloud inference and policy optimization despite local interruptions. Across five real-world manipulation tasks, the resulting policies achieve success rates of 93.3-99.2%, evaluated over 120 trials per task on robots excluded from training data collection. With collection time per robot held fixed, larger fleets provide more experience and generally improve performance across the evaluated sizes. On multi-stage phone packaging, learning with 96 robots raises success from 79.2% to 98.3%. These results support CEL as a scalable approach to improving robot policy reliability through experience generated during deployment.

cs.RO↗
arXiv2026

RobotAgentBench: Towards Open-world Robot Autonomy

Recent advances in vision-language-action (VLA) and world-action models (WAMs) have significantly improved robotic manipulation, yet deploying robots in the open world demands a higher level of autonomy beyond executing predefined tasks. Robot agents offer a promising paradigm for this transition, integrating task discovery, contextual reasoning, physical execution, and adaptive recovery into a closed interaction loop. However, existing benchmarks largely evaluate isolated capabilities, failing to capture the complexity of open-world robot autonomy. We introduce RobotAgentBench (RAB), a comprehensive benchmark for evaluating robot agents in realistic, open-world household environments. Through an agent-assisted, human-in-the-loop real-to-sim pipeline, RAB constructs 50 diverse household layouts with interactive objects and physically grounded tasks, encompassing 90 atomic tasks, 18 short-horizon tasks, 8 long-horizon tasks, and 4 open-ended scenarios. RAB provides a multi-level evaluation of robot agent capabilities: (1) task-level assessments systematically examine five complementary dimensions: task discovery, context reasoning, manipulation, failure recovery, and robustness; (2) scenario-level evaluation assesses how agents integrate these capabilities to autonomously fulfill high-level user needs. Furthermore, RAB enables systematic comparisons of standalone VLA/WAM models and diverse robot agent architectures under a unified planning-execution-verification framework. Extensive experiments reveal substantial gaps between manipulation and autonomy, demonstrate the advantages of agentic architectures and recursive self-improvement, and highlight the remaining challenges toward open-world robot autonomy.

cs.RO↗
arXiv2026

Towards a Learnable Retriever for Textual Graph Question Answering

Textual graph question answering (GraphQA) and graph-based retrieval-augmented generation (GraphRAG) have gained increasing attention as a way to ground large language models (LLMs) on structured knowledge. Despite extensive efforts, existing methods still face two key gaps. The first is an architectural gap: existing methods typically fine-tune an LLM-based generator, but do not also make the retriever itself a learnable LLM for graph evidence selection within one end-to-end retrieve-then-generate pipeline. The second is a retrieval-supervision gap: existing retrievers rarely use gold answer signals to supervise evidence selection. As a result, they may fail to recall evidence nodes required for reasoning, resulting in insufficient coverage of the gold answer set; meanwhile, naive attempts to boost recall often introduce excessive irrelevant information that compromises compactness and overwhelms the LLM. To address these gaps, we propose TaLenT, an LLM-based end-to-end retriever-generator framework for textual GraphQA. To bridge the architectural gap, TaLenT pairs a learnable LLM-based retriever for evidence selection with a fine-tuned LLM-based generator within one unified retrieve-then-generate pipeline. To bridge the retrieval-supervision gap, we leverage gold answer signals as retriever supervision. Specifically, we stratify graph nodes into gold answers, answer-related nodes, and irrelevant noise. We then adopt a weighted pseudo-label loss to prioritize gold answers and preserve answer-related nodes for coverage, while discarding irrelevant noise for compactness. Experimental results across three GraphQA datasets demonstrate that TaLenT consistently improves downstream performance.

cs.CL↗
arXiv2026

SWE-Ladder: Learning to Localize, Reproduce, and Patch via Progressive Privileged Self-Distillation

Resolving a repository-level issue typically requires a software-engineering (SWE) agent to localize the faulty code, reproduce the failure, and patch the code. Reinforcement learning trains such agents from a single test result on the final patch, while on-policy self-distillation (OPSD) adds token-level supervision from a teacher with privileged evidence, exposing the full reference patch at every step. Neither provides stage-specific guidance for localization or reproduction. We propose SWE-Ladder, which turns the verified repair of each training instance into stage-specific evidence: the changed files and lines for localization, the fail-to-pass tests for reproduction, and the diff for patching. A rule-based router assigns each step of an end-to-end rollout to a stage based on its tool call, a frozen teacher sees only the matching evidence, and the stages are distilled in repair order while GRPO optimizes the full trajectory. With Qwen3-4B-Instruct-2507 on SWE-bench Verified under the R2E-Gym scaffold, SWE-Ladder improves pass@1 from 9.6% to 16.4%, compared with 10.4% for GRPO and 12.4% for OPSD with the full patch. Under the OpenHands scaffold, it improves pass@1 from 13.0% to 17.6%. Reversing the stage order under R2E-Gym reduces pass@1 to 11.4%.

cs.AI↗
arXiv2026

KnowGPO: Knowledge-Grouped Policy Optimization for Search Agents

Deep search agents solve knowledge-intensive tasks through long-horizon, multi-turn interactions, where assigning credit to individual search decisions is fundamentally difficult. Outcome-based reinforcement learning provides only a single terminal reward shared across an entire trajectory. Recent process-supervision methods aim to assign credit at finer granularity, but they typically anchor credit to either surface-level trajectory states or model-internal signals, both of which become unreliable in deep search where observations are heterogeneous and retrieved contexts are long and noisy. We propose KnowGPO, a reinforcement learning framework that aligns trajectories by the task-relevant knowledge they have acquired rather than by their surface observations. For each query, KnowGPO decomposes the information required to derive the answer into atomic knowledge conditions, and represents the state of a trajectory at each step by the subset of conditions it has satisfied. Trajectories sharing the same knowledge state are grouped for within-group comparison, and the incremental knowledge gain between consecutive steps serves as an environment-grounded process reward. Experiments on Xbench, BrowseComp-ZH, and GAIA show KnowGPO consistently outperforms outcome-only (GRPO) and process-supervision baselines (GiGPO, IGPO) by 3.8 to 4.2 points, with our 8B model rivaling or exceeding most 32B open-source systems.

cs.AI↗
arXiv2026

Learning Perturbation-Specific Representations through Conditional Energy Prior for Cellular Response Prediction

AI-based cellular perturbation prediction is essential to accelerate drug discovery and therapeutic identification. However, perturbation-specific signals are generally obscured by cellular complexity, making it difficult for existing methods to correctly capture perturbation effects. To address this problem, we propose PerturbEnergy, which introduces a conditional energy-based prior over perturbation representations. It assigns lower energy (higher probability) to representations compatible with the given perturbation and higher energy to others, thereby explicitly tilting the latent space toward perturbation-preferred regions. Besides, PerturbEnergy can be integrated into autoencoder architectures as we find its Evidence Lower Bound (ELBO) is equivalent to the ELBO of the complete autoencoder. We further prove that optimizing PerturbEnergy increases the lower bound on the conditional mutual information between representation and perturbation. Extensive experiments on four benchmark datasets demonstrate the effectiveness of our PerturbEnergy: it improves perturbation recognition especially in latent space with improvement of up to 83.2\%; It also achieves state-of-the-art performance for predicting top-50/100/200 differentially expressed gene(DEG) response and remaining competitive on highly variable gene(HVG) prediction. The code is provided: https://github.com/BlueWhaleLab/PerturbEnergy

cs.LG↗
arXiv2026

Distilling Routed 3D Privilege for Spatial Reasoning in Vision-Language Models

Spatial reasoning remains a persistent weakness of vision-language models (VLMs), because RGB inputs do not directly provide geometric evidence. Existing remedies either inject 3D into the model at inference, paying architecture and latency costs, or train with outcome rewards that supervise only the final answer. Spatial errors originate in perception: a misjudged depth or direction can be corrected only by the scene's true geometry, which the 3D-scanned sources of spatial training corpora already provide. We propose GPD (Geometry-Privileged Distillation), which makes geometric evidence the privilege in on-policy self-distillation (OPSD). For each question, depth, semantic, and bird's-eye-view (BEV) cues are rendered as compact text and routed to the teacher alongside the reference answer; a privileged KL, applied only to incorrect trajectories, augments GRPO, and the deployed model remains RGB-only. On the 4B backbone, GPD achieves 57.1 on VSI-Bench and 37.6 average across MindCube, SPARBench, MMSI-Bench, and ViewSpatial, outperforming both GRPO and answer-privileged OPSD across spatial reasoning benchmarks. Ablations confirm the complementarity of 3D and answer privilege, the advantage of question-conditioned routing over full-context injection, and the benefit of restricting distillation to incorrect trajectories.

cs.CV↗
arXiv2026

Video2World: Benchmarking Coding Agents for Interactive World Modeling from Embodied Videos

Building interactive simulators from real-world observations is a promising way to scale embodied data, but current pipelines still rely heavily on manual environment construction and calibration. We study whether frontier foundation models and coding agents can automate this process end to end. We formulate \emph{autonomous video-to-simulation} as a software engineering task in which an agent observes an embodied video, constructs the corresponding simulated environment and robot behavior, and iteratively refines the result through execution feedback. To evaluate this capability, we introduce \textbf{Video2World}, a benchmark comprising 222 reconstruction instances derived from 189 robot and human demonstration videos. Video2World measures reconstructed worlds along geometric fidelity, dynamic fidelity, and functional correctness, capturing spatial perception, physical reasoning, and executable interaction. Evaluating 9 frontier coding-agent systems reveals a sharp improvement in Task success beginning with Claude Opus 5, rising from below 5\% to over 15\%, while substantial gaps to human-assisted reconstruction remain. We further find that worlds that look better could work worse: better visual fidelity does not always lead to higher task success. This echoes the broader gap between perceptual realism and factual correctness observed in generative models.

cs.CV↗
arXiv2026

HybridCUA: Learning to Orchestrate GUI and CLI for Computer-Use Agents

Computer use agents (CUAs) have demonstrated strong capabilities in completing digital tasks. However, existing CUAs either rely solely on graphical user interface (GUI) interactions, which are often inefficient and error prone, or augment GUI interactions with application specific APIs or tools, which require substantial engineering effort and are difficult to scale across applications. We argue that the next generation of CUAs should combine GUI interactions with the command line interface (CLI), leveraging the generality of the GUI and the efficiency of shell commands. A critical challenge, however, is that current models do not know when or how to use the CLI during task execution. To address this challenge, we develop a data construction pipeline that produces three types of trajectories: GUI only, CLI only, and interleaved GUI and CLI trajectories. This pipeline results in HybridCUA-8K, containing 5K hybrid trajectories and 3K verified RLVR tasks. Building on these data, we propose a training framework with two stages: supervised fine tuning on the constructed trajectories, followed by reinforcement learning with our CLI aware rewards that encourages agents to use the CLI selectively and reliably. Experiments show that HybridCUA-9B achieves 53.6% accuracy on OSWorld, improving over the base model by 14.8 percentage points, and improves performance on WindowsAgentArena by 4.0 percentage points. These results demonstrate the effectiveness and cross platform generalizability of the hybrid GUI and CLI paradigm for computer use agents.

cs.CV↗
arXiv2026

Unified Target-Speaker ASR with Text and Enrollment Speech Cues

Target-speaker automatic speech recognition (TS-ASR) aims to recognize a designated speaker while suppressing interfering speech in multi-talker environments. Conventional TS-ASR typically relies on an enrollment utterance, whereas text-guided methods use known lexical content, such as a wake word, to identify the target speaker from the observed mixture. These two cues provide complementary information but are usually studied separately. We propose a Unified Dual-Cue TS-ASR framework that supports text cues, enrollment speech, or both within a single model. Text cues interact with the mixture representation to extract target-speaker information conditioned on known lexical content, while an independent enrollment utterance provides complementary speaker information. Cross-attention cue-conditioning modules are integrated into shared Conformer blocks, and negative-cue sampling provides cue-validity supervision during dual-cue training. Experiments on 30,000 two-speaker mixtures across five recording/domain conditions and four oracle text-cue lengths show that, with five-character text cues, the concatenated dual-cue method achieves 8.80% CER, compared with 17.32% for text-only and 29.06% for enrollment-only inference. It also outperforms parallel dual-cue fusion (9.49% CER) and yields lower dual-cue CER across all five evaluation subsets. These results demonstrate the benefit of jointly exploiting complementary lexical and speaker information for target-speaker ASR.

eess.SP↗
arXiv2026

Causally Debiased Latent Action Model for Embodied Action-Conditioned World Models

Action-conditioned world models (ACWMs) aim to simulate future observations conditioned on embodied actions. However, learning controllable ACWMs requires large-scale action-labeled data, which remains costly to collect. Latent action models (LAMs) mitigate this bottleneck by inferring latent actions from videos without executable action labels, but existing LAMs are typically trained with reconstruction-only objectives and therefore entangle action-relevant dynamics with action-irrelevant visual confounders. With such objectives, LAM favors visual context over action dynamics, therefore downstream ACWMs exhibit residual motion under zero actions and fail to reproduce supplied dynamics. We propose CD-LAM, a causally debiased framework for LAM-based ACWMs. CD-LAM introduces three debiasing objectives: embodiment-centric reconstruction, action-centric contrastive learning, and latent space calibration, which together encourage embodiment-focused, action-aware, and well-calibrated representations. CD-LAM reduces action-following error by up to 42% and 35% when conditioned on latent and robot actions, while improving fidelity, and matching DreamDojo reference with over 12$\times$ fewer adaptation updates. CD-LAM also adapts LTX-2.3-22B into an ACWM with competitive quality using only 3.2% of DreamDojo-14B's sample exposures. On X-VLA, pretraining with CD-LAM instead of baseline LAM consistently improves success rates by up to 5 percent point across LIBERO, LIBERO-Plus, and RoboTwin C2R.

cs.CV↗
arXiv2026

Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents

Language-conditioned manipulation requires both precise contact-rich control and robust reasoning over language, scenes, and long horizons. End-to-end Vision-Language-Action (VLA) models provide strong local visuomotor skills, but they are trained on in-distribution task trajectories and often fail under deployment perturbations such as semantic retargeting, goal re-binding, spatial-layout shifts, and unstable local contacts. LLM coding agents provide complementary semantic and compositional reasoning, but purely analytic primitives struggle with irregular grasping, constrained placement, and articulated-object interaction. We present Harness VLA, a memory-augmented agentic framework that exposes a frozen VLA as a retryable contact-rich primitive and composes it with a small fixed library of analytic primitives for grounding, staging, transport, navigation, and release. Rather than expanding the skill library, the harness learns the operating range of these fixed primitives from task-specific execution traces, global success rules, and failure models. By lifting semantic re-grounding, non-contact execution, and VLA re-staging to the planner while reserving the frozen VLA for local contact-rich phases, Harness VLA extends pretrained VLAs beyond their original trajectory distribution without finetuning. Across perturbed tabletop, household kitchen, and clean-to-randomized bimanual manipulation, Harness VLA improves over the strongest relevant baselines by 38.6 and 25.4 percentage points on LIBERO-Pro and RoboCasa365, respectively, and reaches 58.4% on RoboTwin C2R. Real-world demonstrations on dual-Franka robots further show target redirection, grasp recovery, and new task compositions with the same frozen VLA. Code is available at https://github.com/RLinf/RPent.

cs.RO↗
arXiv2026

IterSynth: Rethinking Deep Search Agents via Role-Decoupled Iterative Synthesis

Deep search requires LLM agents to decompose complex queries, search for evidence, and synthesize grounded answers, yet existing ReAct-style agents suffer from two limitations: role coupling, where one policy must handle planning, evidence use, and synthesis; and context accumulation, where growing search histories introduce noise and obscure useful information. To address these issues, we propose IterSynth, a role-decoupled and summary-based paradigm that alternates between a Planner for identifying information needs and a Synthesizer for integrating evidence into an evolving summary state. This design separates planning from synthesis while using the summary as the persistent state of search, reducing both capability coupling and context noise. To train IterSynth effectively, we further introduce Role-Decoupled Policy Optimization (RDPO) for reinforcement learning, which combines terminal outcome rewards with turn-level rubric evaluations and computes role-specific advantages for more precise credit assignment. Experiments on five long-horizon deep-search benchmarks such as BrowseComp and Xbench-DS show that IterSynth-8B achieves an average score of 50.7, surpassing the strongest prior $\leq$8B agent by +4.2\%. Moreover, IterSynth serves as a model-agnostic prompting paradigm, delivering substantial zero-shot gains over ReAct and similar prompting paradigms on frontier proprietary models.

cs.CL↗
arXiv2026

CausalWM: Causal Chain-of-Thought Reasoning for Embodied World Model

Embodied world models learn to predict future physical dynamics from visual observations and control signals, where physical knowledge is implicitly entangled within latent representations. We introduce CausalWM, a 16B embodied world model that performs explicit causal chain-of-thought reasoning before future video prediction. CausalWM organizes useful variables into a reasoning trajectory, allowing the model to progressively capture causal dependencies underlying physical evolution. To train CausalWM, we collect 31K hours embodied data and develop a three-stage paradigm consisting of large-scale video pre-training, causal CoT mid-training, and multi-objective RL post-training. Despite using only a limited set of supervised CoT variables, CausalWM exhibits emergent in-context learning capabilities, enabling contextual visual feature guidance and efficient few-step generation. CausalWM achieves state-of-the-art performance across language-conditioned, action-conditioned, single-view and multi-view benchmarks, including Top-1 performance on TriWorldBench leaderboard.

cs.CV↗
arXiv2026

Learning from Reliable Negatives: Confidence-Anchored Test-Time Adaptation for GUI Grounding

Graphical User Interface (GUI) grounding is essential for autonomous agents to map natural language instructions to precise screen coordinates. However, existing supervised fine-tuning and reinforcement learning methods are constrained by the high cost of annotation, creating a scalability bottleneck. In this paper, we introduce a label-free test-time training paradigm driven by two key insights: (1) confidence patterns in coordinate tokens are a better indicator than full-sequence confidence, and (2) in sparse GUI coordinate spaces, negative samples offer more reliable learning signals than potentially noisy positive ones. We first propose Confidence-Anchored Learning (CAL), which utilizes coordinate-token confidence to filter pseudo-labels and assign distance-based binary rewards. Building on this, we develop Confidence-Anchored Negative Learning (CANL), which exclusively optimizes the model using negative samples to bypass the risks of incorrect positive samples. Experimental results demonstrate that CANL-7B achieves 92.1% on ScreenSpot-V2. On more challenging ScreenSpot-Pro, CANL-7B reaches 33.8%, an 8.9% absolute improvement over the base model. Our findings establish coordinate-token confidence as a powerful alternative to manual annotations for scalable GUI agent development.

cs.CV↗
arXiv2026

GSM8K-V: Can Vision Language Models Solve Grade School Math Word Problems in Visual Contexts

Mathematical reasoning is a key capability for vision-language models (VLMs), yet current benchmarks mainly evaluate text-based or explicitly symbolic visual inputs. It remains unclear whether VLMs can reason mathematically when information must be perceived and inferred from images rather than read from explicit symbols. We introduce GSM8K-V, a benchmark transforming GSM8K into multi-image sequences with semantic equivalence preserved. By mapping text-based problems into visual form via an automated pipeline and human verification, we curate 1,319 high-quality samples. In GSM8K-V, quantities must be extracted through visual perception, and reasoning chains must be reconstructed by integrating implicit cues across scenes. Evaluation of 34 VLMs reveals a striking modality gap: while most models exceed 90\% on text, the best model achieves only 59\% on GSM8K-V, far below the 91\% human accuracy. Notably, models enhanced for visual math reasoning show no improvement on GSM8K-V despite large gains on existing benchmarks, confirming that it evaluates a distinct capability. Error analysis shows that the primary bottleneck lies in Implicit Visual Inference Error (IVIE), where models fail to recover visual semantics that are implied rather than explicitly stated. Our code and data are released at https://github.com/ZJU-REAL/GSM8K-V.

cs.CV↗
arXiv2026

EasySteer: A Unified Framework for High-Performance and Extensible LLM Steering

Large language model (LLM) steering has emerged as a promising paradigm for controlling model behavior at inference time through targeted manipulation of hidden states, offering a lightweight alternative to expensive retraining. However, existing steering frameworks suffer from critical limitations: computational inefficiency, limited extensibility, and restricted functionality that hinder both research progress and practical deployment. We present EasySteer, a unified framework for high-performance, extensible LLM steering built on vLLM. Our system features modular architecture with pluggable interfaces for both analysis-based and learning-based methods, fine-grained parameter control, pre-computed steering vectors for eight application domains, and an interactive demonstration system. Through deep integration with vLLM's optimized inference engine, EasySteer achieves 10.8-22.3$\times$ speedup over existing frameworks. Extensive experiments demonstrate its effectiveness in overthinking mitigation, hallucination reduction, and other key applications. EasySteer transforms steering from research technique to production-ready capability, establishing critical infrastructure for deployable, controllable language models.

cs.CL↗
arXiv2026

Predict, Don't Iterate: Efficient Adaptive-Length Infilling for Diffusion Language Models

Diffusion language models (DLMs) have emerged as a promising alternative to the auto-regressive paradigm. With bidirectional attention and any-order generation, DLMs naturally fit infilling tasks, which require generating a middle span conditioned on both the prefix and the suffix. However, infilling is sensitive to the length of the span, while DLMs require the length to be fixed before generation. Although prior studies extend DLMs to dynamic lengths, they still suffer from two limitations. (i) Sensitivity to initial length. These methods require a preset length to initialize the search and are highly sensitive to this initial length, often yielding suboptimal results. (ii) Inference inefficiency. They either insert length-changing operations during generation or repeatedly search for an appropriate length using multi-step denoising confidence, both of which introduce substantial extra forward passes and computational cost. Therefore, we propose PILL (Probing-based InfiLling with preset-Length-free decoding), an efficient infilling method for DLMs that requires no preset initial length and adds far fewer extra forward passes than baselines, substantially reducing inference time. Experiments show that, across five DLMs spanning different families, architectures, and training recipes on eight infilling benchmarks, PILL improves over the strongest baseline by +4.8 average pass rate on code and +6.0 BLEU-2 on text, while running 1.82x faster than that baseline. The code is available at https://github.com/Hsu1023/PILL.

cs.CL↗