Author

Yu Zhang

2 papers indexed here

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Preprint Sep 2026

TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces

A vision-language-action (VLA) policy with a flow-matching action expert generates each action chunk (a short command sequence) by integrating a learned velocity field; once its weights are fixed, the success or failure of an earlier rollout cannot change the chunk generated now. Concurrent test-time methods give a fro...

Jia-Xuan Zhang, Rui-Zhe Liu, Yu Zhang et al. · 1 citation

Preprint Aug 2026

Rethinking Demonstration Unlearning in Imitation Learning for Robotics

Imitation learning for robotics depends on human demonstrations, some of which people may later ask to remove. Retraining without them is the natural reference, but its cost grows with policy and dataset scale, motivating cheaper operators that edit a trained policy. Metrics inherited from machine unlearning, such as f...

Jia-Zhuo Li, Yu Zhang, Yi-Ming Fei et al. · 1 citation