Author

Zheyuan Hu

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Preprint Sep 2026

SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation

Despite rapid progress, generalist robot policies remain brittle on complex, long-horizon tasks that comprise multiple stages or require repeated attempts and deliberation on the same underlying stage before success. Q-value functions can improve these policies by ranking candidate actions or guiding policy improvement...

Saksham Singh, Zhe-Yuan Hu, Max Sobol Mark et al. · 0 citations

Preprint Aug 2026

$R^3$: Training Robots to Reason in Natural Language via Reinforcement Learning

This paper introduces a simple post-training recipe that turns off-the-shelf VLMs into robotic reasoners, and suggests that free-form language reasoning can function as a test-time compute mechanism for steering low-level policies.

Lehong Wu, Yuxiao Qu, Zhe-Yuan Hu et al. · 0 citations