Author

Zaijia Yang

3 papers indexed here

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#machine learning Preprint Oct 2026

UniIntervene++: An Adaptive Intervention Agent for Efficient Real-World Reinforcement Learning

Online reinforcement learning (RL) enables robot policies to improve through physical interaction, but the assistance they require changes as their competence evolves. Existing intervention strategies based on offline estimates or fixed decision rules can therefore become mismatched to the current policy. To address th...

Yu-Dong Lin, Hao-Yuan Deng, Zhuo-Xuan Yuan et al. · 0 citations

Preprint Aug 2026

CertVLA: Certified Defense against Physical Visual Attacks for Vision-Language-Action Models

Vision-Language-Action (VLA) policies are vulnerable to localized physical perturbations, yet existing certified patch defenses target discrete labels and cannot directly certify continuous, temporally correlated actions. We introduce CertVLA, a certified defense for closed-loop VLA control under bounded patch and text...

Hui Lu, Zhi-Jie Peng, Yuqi Lin et al. · 0 citations

#machine learning Preprint Sep 2026

Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

Facet-0 unifies multimodal representation learning and reinforcement learning post-training around a joint action-wrench proposal, which reaches 82% mean success on five sub-millimeter computer-assembly tasks, compared with 15% for the strongest baseline.

Hao-Yuan Deng, Hai-Chao Liu, Wen-Kai Guo et al. · 1 citation