6 citations · 6 across the 5 of their papers we have counts for
6 papers
Memory Anchors for Continual Robot Learning
Maximilian Du, Zhanyi Sun, Chen Xu +3
Robot policies deployed in the wild should have the capability to continually learn new tasks without forgetting existing behaviors. A common approach to combat such catastrophic f…
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…
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…
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…
RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback
Yufei Wang, Zhanyi Sun, Jesse Zhang +4
Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to desi…
Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing
Zhanyi Sun, Yufei Wang, David Held +1
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing.…