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Author

Yu-Chen Zhou

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Preprint Oct 2026

Residual Modeling Closes the Regression and Generative Policy Gap in Robot Learning

Heteroscedastic Student-t action regression (HT-Policies) is introduced, which learns input-dependent residual scales and reduces the influence of heavy tails and offers an efficient direct-regression alternative for a range of architectures and tasks.

Yu-Chen Zhou, Jia-Cheng You, Wei-Kang Wan et al. · 0 citations
Jul 2026

Hy-Embodied-VLM-1.0: Efficient Physical-World Agents

The model achieves the best performance among similarly sized models on 19 of the 38 benchmarks and substantially outperforms strong competitors, including Qwen3.6-A3B and Cosmos 3.5 MoT-2B, and demonstrates strong performance on embodied agentic tasks requiring multi-turn interaction and long-horizon reasoning.

Ziyi Wang, Xu-Min Yu, Yongming Rao et al. · 6 citations

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