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Xin-Kai Jiang

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#artificial intelligence Preprint Sep 2026

From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation

HALTER, a Harness for Autonomous Long-horizon Task Evaluation and Reset, which restores the scene by planning over a library of learned atomic reset skills, so demonstration cost scales with the size of that library rather than with the number of terminal states.

Jing Jiang, Yue Yang, Xin-Kai Jiang et al. · 0 citations