Author

Tatsuya Harada

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Review Aug 2026

Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning

Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical in contact-sensitive manipulation, where successful task execution depends not only on visual perception and motion generation, but also on...

Shilin Shan, Chu-Hao Zhou, Rui-Ze Wang et al. · 0 citations

Preprint Aug 2026

Learning Hierarchical Skill Policies with Offline Quality-Diversity Reinforcement Learning

QDOS (Quality-Diversity Offline Skill learning), a unified pipeline for robust offline-to-online learning, incorporates an Advantage-Weighted Quality-Diversity pretraining objective, which weights the skill extraction and diversity objectives by the estimated advantage of each trajectory segment.

Tanachai Anakewat, Takayuki Osa, Tatsuya Harada · 0 citations

Preprint Jul 2026

Learning the Supports for Categorical Critic in Reinforcement Learning

This work investigates the Gaussian Histogram Loss (HL-Gauss), a recent approach that reframes value estimation as classification by encoding each scalar Bellman target as a Gaussian-smoothed categorical target, and derives an objective that forms an upper bound on the mean-squared Bellman error.

Jen-Yen Chang, Takayuki Osa, Tatsuya Harada · 0 citations