3 papers
cs.RO2026
CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation
Wentian Wang, Chutong Wen, Hongxu Ma +6
We present CoRMA(Contrastive Robotic Motor Adaptation), a context-based meta-adaptation framework that modifies RMA for force-dominant assembly. CoRMA replaces raw simulator-parame…
cs.LG2025
A Convolution and Attention Based Encoder for Reinforcement Learning under Partial Observability
Wuhao Wang, Zhiyong Chen
Partially Observable Markov Decision Processes (POMDPs) remain a core challenge in reinforcement learning due to incomplete state information. We address this by reformulating POMD…
cs.AI2025
Success in Humanoid Reinforcement Learning under Partial Observation
Wuhao Wang, Zhiyong Chen
Reinforcement learning has been widely applied to robotic control, but effective policy learning under partial observability remains a major challenge, especially in high-dimension…