Author

Yu-Han Liu

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Preprint Sep 2026

Beyond Policy Alignment: Closing the Planning-Learning Loop for Robot Control with Learned World Models

This work introduces PL-MPC (Planning-Learning MPC), which additionally modifies critic supervision and planner terminal-value estimation, and demonstrates zero-shot sim-to-real transfer on wrench-nut alignment with a 7-DoF KUKA IIWA14, obtaining higher observed success than TD-M(PC)^2.

Kowndinya Boyalakuntla, Yu-Han Liu, Abdeslam Boularias · 0 citations

Jul 2026

Foresight Residual RL for Long-Horizon Robot Manipulation with Vision-Language-Action Models

Foresight Residual RL is proposed, which optimizes handoff quality by augmenting each subtask's sparse success reward with an offline-estimated foresight value -- the probability of future subtask success conditioned on the terminal state of the current subtask.

Yuhan Liu, Xinyu Zhang, Litao Liu et al. · arXiv.org · 1 citation