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cs.RO2026
A Minimalist Retargeting-Guided Reinforcement Learning Recipe for Dexterous Manipulation
Yunhai Feng, Natalie Leung, Jiaxuan Wang +3
Recent work in humanoid whole-body control has found success with a simple recipe: retarget human motion to robot kinematic references, then train policies via reinforcement learni…
cs.RO2025
Reflective Planning: Vision-Language Models for Multi-Stage Long-Horizon Robotic Manipulation
Yunhai Feng, Jiaming Han, Zhuoran Yang +3
Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively c…