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cs.RO2026
Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradient
Haoxiang You, Yilang Liu, Davis Zong +5
We present the stochastic decoupled policy gradient (SDPG), a lightweight visual reinforcement learning (RL) method that trains diverse visuomotor control policies end-to-end withi…
cs.RO2026
Sample-Based Hybrid Mode Control: Asymptotically Optimal Switching of Algorithmic and Non-Differentiable Control Modes
Yilang Liu, Haoxiang You, Ian Abraham
This paper investigates a sample-based solution to the hybrid mode control problem across non-differentiable and algorithmic hybrid modes. Our approach reasons about a set of hybri…