Author

Haoyi Niu

Tsinghua University

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Preprint Sep 2026

HiRE: Hindsight Reward Editing for Policy Finetuning

Hindsight Reward Editing (HiRE) bridges the broad knowledge of foundation representation models with physical control awareness, by contrasting successful and failed trajectories in hindsight, and consistently outperforms other reward recipes by delivering dense, control-aware feedback that prevents value function coll...

Haoyi Niu, Zhen Han, Yu-Feng Ji et al. · 0 citations

Jul 2026

ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow

ODEWorld is constructed, a continuous-time latent world model that is both efficient and versatile and successfully reconciles planning-conducive dynamics abstraction with visual realism, excelling in both video generation and robotic control.

Dong-Xiu Liu, Haoyi Niu, Peng Cheng et al. · arXiv.org · 4 citations · ⚡1

Preprint Jul 2026

Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models

Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is necessary for forming action-compatible...

Yufeng Ji, Wenhao Tang, Haoyi Niu et al. · 0 citations