Author

Yunan Wang

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#machine learning Preprint Oct 2026

Score-Calibrated Flow for Sampling from Unnormalized Densities with Applications to Generative Online Reinforcement Learning

Diffusion and flow models provide expressive policy classes for online reinforcement learning (RL), enabling multimodal behaviors and improved performance. However, training these policies remains challenging: the critic specifies the desired policy as an unnormalized Boltzmann density but does not provide direct sampl...

Ze-Yang Li, Yu-Nan Wang, Risheek Garrepalli et al. · 0 citations

Preprint Sep 2026

G6D: Geometric Learning-Free RGB-D 6D Pose Solver for Robotic Manipulation

6D object pose estimation is fundamental to robotic manipulation and automation. Recent zero-shot methods have significantly improved generalization to unseen objects, but most still rely on large-scale pretrained models with substantial GPU computation and memory demands. These requirements complicate deployment on ro...

Yi-Xuan Liang, William Chen, Yunan Wang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Newton Matching for Generative Modeling: A Unified Framework for Fine-Tuning and Sampling

The paradigm from isolated losses to iterative optimization over canonical models: population minimizers of standard conditional matching for terminal densities and approximate updates and define critical-point consistency as vanishing tangential displacement if and only if $\rho=\pi$.

Ze-Yang Li, Yu-Nan Wang, Paolo Giaretta et al. · 0 citations