10 citations · 13 across the 20 of their papers we have counts for
20 papers
SUN: Reaching for Novelty in Reinforcement Learning
Wenyan Yang, Arsenii Mustafin, Dominik Baumann +2
Exploration in reinforcement learning (RL) remains a fundamental challenge. Recent goal-conditioned RL strategies (which select goals to encourage broader state coverage) have show…
DAGR: State-Conditioned Goal Representations via Difference-Aware Goal Cross-Attention
Xing Lei, Wenyan Yang, Xuetao Zhang +1
Goal-conditioned reinforcement learning hinges on how the goal is encoded. Contrastive, metric, temporal-distance and information-theoretic encoders disagree on the objective. They…
ReGIL: Retrieval-Guided Imitation Learning from a Single Demonstration
Yuying Zhang, Francesco Verdoja, Wenyan Yang +1
Learning robot manipulation policies with deep neural networks from a single demonstration remains highly challenging, as even small deviations from the demonstrated trajectory can…
Rethinking Temporal Consistency in Video Object-Centric Learning: From Prediction to Correspondence
Zhiyuan Li, Rongzhen Zhao, Wenyan Yang +3
The de facto approach in video object-centric learning maintains temporal consistency through learned dynamics modules that predict future object representations, called slots. We…
Bridging the Embodiment Gap: Disentangled Cross-Embodiment Video Editing
Zhiyuan Li, Wenyan Yang, Wenshuai Zhao +4
Learning robotic manipulation from human videos is a promising solution to the data bottleneck in robotics, but the distribution shift between humans and robots remains a critical…
PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videos
Yihao Wang, Yang Miao, Wenshuai Zhao +8
Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, sim…
An Industrial-Scale Insurance LLM Achieving Verifiable Domain Mastery and Hallucination Control without Competence Trade-offs
Qian Zhu, Xinnan Guo, Jingjing Huo +5
Adapting Large Language Models (LLMs) to high-stakes vertical domains like insurance presents a significant challenge: scenarios demand strict adherence to complex regulations and…
GCHR : Goal-Conditioned Hindsight Regularization for Sample-Efficient Reinforcement Learning
Xing Lei, Wenyan Yang, Kaiqiang Ke +4
Goal-conditioned reinforcement learning (GCRL) with sparse rewards remains a fundamental challenge in reinforcement learning. While hindsight experience replay (HER) has shown prom…
Smoothing Slot Attention Iterations and Recurrences
Rongzhen Zhao, Wenyan Yang, Juho Kannala +1
Slot Attention (SA) lies at the heart of mainstream Object-Centric Learning (OCL). Image features can be aggregated into object-level representations by SA \textit{iteratively} ref…
Reachability Weighted Offline Goal-conditioned Resampling
Wenyan Yang, Joni Pajarinen
Offline goal-conditioned reinforcement learning (RL) relies on fixed datasets where many potential goals share the same state and action spaces. However, these potential goals are…
Closing the Gap between TD Learning and Supervised Learning with -Conditioned Maximization
Xing Lei, Zifeng Zhuang, Shentao Yang +6
Recently, supervised learning (SL) methodology has emerged as an effective approach for offline reinforcement learning (RL) due to their simplicity, stability, and efficiency. Howe…
Extracting Visual Plans from Unlabeled Videos via Symbolic Guidance
Wenyan Yang, Ahmet Tikna, Yi Zhao +4
Visual planning, by offering a sequence of intermediate visual subgoals to a goal-conditioned low-level policy, achieves promising performance on long-horizon manipulation tasks. T…
ReMoBot: Retrieval-Based Few-Shot Imitation Learning for Mobile Manipulation with Vision Foundation Models
Yuying Zhang, Wenyan Yang, Francesco Verdoja +2
Imitation learning (IL) algorithms typically distill demonstrations into parametric policies to mimic expert behavior. However, with limited data and partial observability, such as…
Probabilistic Subgoal Representations for Hierarchical Reinforcement learning
Vivienne Huiling Wang, Tinghuai Wang, Wenyan Yang +2
In goal-conditioned hierarchical reinforcement learning (HRL), a high-level policy specifies a subgoal for the low-level policy to reach. Effective HRL hinges on a suitable subgoal…
Seq2Seq Imitation Learning for Tactile Feedback-based Manipulation
Wenyan Yang, Alexandre Angleraud, Roel S. Pieters +2
Robot control for tactile feedback-based manipulation can be difficult due to the modeling of physical contacts, partial observability of the environment, and noise in perception a…
Prioritized offline Goal-swapping Experience Replay
Wenyan Yang, Joni Pajarinen, Dinging Cai +1
In goal-conditioned offline reinforcement learning, an agent learns from previously collected data to go to an arbitrary goal. Since the offline data only contains a finite number…
Swapped goal-conditioned offline reinforcement learning
Wenyan Yang, Huiling Wang, Dingding Cai +2
Offline goal-conditioned reinforcement learning (GCRL) can be challenging due to overfitting to the given dataset. To generalize agents' skills outside the given dataset, we propos…
Monolithic vs. hybrid controller for multi-objective Sim-to-Real learning
Atakan Dag, Alexandre Angleraud, Wenyan Yang +4
Simulation to real (Sim-to-Real) is an attractive approach to construct controllers for robotic tasks that are easier to simulate than to analytically solve. Working Sim-to-Real so…
Neural Network Controller for Autonomous Pile Loading Revised
Wenyan Yang, Nataliya Strokina, Nikolay Serbenyuk +5
We have recently proposed two pile loading controllers that learn from human demonstrations: a neural network (NNet) [1] and a random forest (RF) controller [2]. In the field exper…
Object Detection in Equirectangular Panorama
Wenyan Yang, Yanlin Qian, Francesco Cricri +2
We introduced a high-resolution equirectangular panorama (360-degree, virtual reality) dataset for object detection and propose a multi-projection variant of YOLO detector. The mai…