Author

Chen Xu

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Preprint Aug 2026

Arrive and Survive: Scaling Safe Goal-Conditioned Policy Learning from One-Bit Failure Signals

Contrastive reinforcement learning (CRL) scales effectively in goal-conditioned tasks by casting policy learning into a self-supervised contrastive objective. However, in a failure-terminated Markov decision process, established CRL considers pre-failure future goals only when constructing positive samples, without acc...

Guopeng Li, Yingpeng Duan, Yiru Jiao et al. · 0 citations

Preprint Aug 2026

Memory Anchors for Continual Robot Learning

This work identifies Memory Anchors in regions where representations of new-task observations collapse onto those of old-task observations even though the tasks require conflicting actions, like when a familiar object must be manipulated in a new way.

Maximilian Du, Zhanyi Sun, Chen Xu et al. · 1 citation