Author

Hao-Yuan Deng

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Nov 2026

Efficient Online Robotic Reinforcement Learning With Explicit Manifold Alignment

Online reinforcement learning (RL) enables robots to continuously improve through real-world interaction, yet achieving high success rates in contact-rich manipulation remains challenging due to sparse binary rewards. Conventional reward-shaping methods rely on hand-designed goal-proximity heuristics and seldom differe...

Wen Guo, Pei-Zhi Tang, Yu-Kun Bai et al. · IEEE Robotics and Automation... · 0 citations

#artificial intelligence Preprint Sep 2026

DynaHarness: A Dynamic Physical Harness for Self-Evolving Robot Agents

Pretrained robot policies provide useful action priors, but long-horizon manipulation still requires coordination between semantic reasoning and physical execution. Semantic reasoning operates at a coarser timescale than physical interaction, while episode-level failures provide limited guidance on which system compone...

Hao-Yuan Deng, Jie-Bin Liu, Teng-Xiao Zhang et al. · 0 citations

#machine learning Preprint Sep 2026

Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

Facet-0 unifies multimodal representation learning and reinforcement learning post-training around a joint action-wrench proposal, which reaches 82% mean success on five sub-millimeter computer-assembly tasks, compared with 15% for the strongest baseline.

Hao-Yuan Deng, Hai-Chao Liu, Wen-Kai Guo et al. · 1 citation