4 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…