Author

Rui-Han Zhao

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Preprint Sep 2026

FORM: Robot Manipulation through Direct Material Law Identification

When interacting with an unfamiliar deformable material, a robot lacks prior knowledge of its physical properties and how it will respond to applied forces and motion. Rapid online identification is therefore essential for reliable manipulation. We present FORM (From Observed Response to Material laws), which identifie...

S. Tretiakov, Rui-Han Zhao, Cheng-Hsi Hsiao et al. · 0 citations

#artificial intelligence Preprint Oct 2026

Multi-Fidelity Policy Gradients Stabilize Data-Scarce Reinforcement Learning

Policy gradient methods for on-policy reinforcement learning (RL) can become unstable when expensive, scarce target-domain data yield noisy gradient estimates. We address this challenge by complementing limited high-fidelity (HF) target-domain data with abundant, cheap, but biased low-fidelity (LF) data, e.g., from a s...

Xin-Jie Liu, Rui-Han Zhao, A. Chaudhuri et al. · 0 citations