3 papers
cs.RO2026
From Prior to Pro: Efficient Skill Mastery via Distribution Contractive RL Finetuning
Zhanyi Sun, Shuran Song
We introduce Distribution Contractive Reinforcement Learning (DICE-RL), a framework that uses reinforcement learning (RL) as a "distribution contraction" operator to refine pretrai…
cs.RO2026
Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution
Zhanyi Sun, Shuran Song
Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to…
cs.RO2026
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…