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Author

Haoandong Yang

2 papers indexed here

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#artificial intelligence Preprint Sep 2026

HarnessEvolve: Learning from Reference Trajectories for Reliable Agent Self-Evolution

This paper introduces HarnessEvolve, a self-evolving framework that learns from reference trajectories to achieve reliable agent self-evolution, and overcomes credit assignment failure by generating reference trajectories and aligning failed executions against them to extract error signals.

Wen Jiang, Ming-Min Chu, Yiding Tian et al. · 10 citations
Open access Aug 2026

ActivAsk: Free-Energy-Guided Clarification for Robotic Grasping Under Ambiguous Instructions

ActivAsk is presented, a zero-shot framework for resolving referential ambiguity before robotic grasping that selects among VLM-proposed candidate partitions using an expected free energy (EFE) criterion motivated by active inference; with neutral response preferences, this reduces to information gain over candidate pa...

Haoandong Yang, Gabriel W. Haddon-Hill, Teresa Zielińska et al. · 0 citations

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