Author

Yaodong Yang

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Preprint Sep 2026

RoboFFT: Finetuning generative robot policy via online reinforcement learning with forward process

Generative models, such as diffusion and flow-based models, have shown strong promise for robot policy learning by capturing complex and multimodal action distributions from demonstrations. However, policies trained solely with imitation learning often suffer from imperfect demonstrations and distributional shifts, whi...

Yu Li, Sheng-He Hu, Yu-Han Wang et al. · 0 citations

Preprint Jul 2026

LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation

A latent motion prior module (\prior{}) is introduced that maps recent hand-action histories to a compact, history-conditioned latent prior and decodes continuous latent commands into executable high-dimensional hand targets and improves the policy with online residual RL in the same latent hand-action space.

Xinye Yang, Zhiyuan Ma, Hongze Yu et al. · 0 citations