Author

Yang Zhang

2 papers indexed here

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Jul 2026

P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning

Variational Autoencoders are widely used to encode high-dimensional and noisy observations in robotics. However, their stochastic latent creates a mismatch with Proximal Policy Optimization (PPO): an effective policy marginalizes over the latent distribution, whereas former implementations estimate its probability rati...

Li-Yun Yan, Jian-Ming Ma, Yang Zhang et al. · arXiv.org · 0 citations

#artificial intelligence Preprint Sep 2026

ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies

ActSafeGuard is introduced, a differentiable and training-aligned safeguard layer for flow-matching based policies that integrates hard action feasibility into policy learning, not merely treating safety as an inference-time external component.

Jian-Ming Ma, Rong-Jun Jin, Xia-Xi Si et al. · 0 citations