Author

Ying Yuan

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Preprint Aug 2026

Detecting an Effect Is Not Learning to Act on It: A Reward-SNR Floor for LLM Acquisition Agents

This thesis is a distinction that is easy to miss: detecting that such a signal helps on average is not the same as learning to act on it per instance, and a reward-SNR floor governs when the second is even possible, and a reward-SNR detectability floor is explained.

Ying Yuan · 0 citations

Jun 2026

From Grasps to Dexterity: Large-Scale Grasp Pretraining for Dexterous Manipulation

This work adapts a hierarchical imitation learning framework that combines high-level hand sub-goal prediction with a low-level goal-conditioned controller to serve not only as resources for grasp synthesis, but also as scalable pretraining data for contact-rich dexterous manipulation.

Ying Yuan, Xinyu Liu, Sriram Krishna et al. · arXiv.org · 0 citations