Yue Gao

Affordance-Conditioned Decision Making: Bridging the Semantic-Spatial Gap in Zero-Shot Cross-Floor Vision-and-Language Navigation

Vision-and-language navigation increasingly relies on general-purpose semantic planners, yet translating correct high-level intent into reliable physical execution remains difficult in spatially constrained transitions. Reaching a staircase, doorway, or narrow passage does not ensure traversal; the agent must identify...

HALSI: Hierarchical adaptive latent skill inference for temporal abstraction in reinforcement learning

P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning

This work introduces P^3 (Probabilistic Policy Propagation), a distribution-aware optimization framework for VAE-based policies that couples moment-based probabilistic method for stable and efficient learning with sampling-based calibration for robust policy behavior under latent uncertainty.

ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies

ActSafeGuard is introduced, a differentiable and training-aligned safeguard layer for flow-matching based policies that integrates hard action feasibility into policy learning, not merely treating safety as an inference-time external component.