Author

He-Yang Yu

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Preprint Oct 2026

RoboDoctor: Training-Free Recursive Self-Improvement for Robot Policies

Generalist robot policies and language-model agents provide complementary capabilities, but completing a task also requires adapting their use to the consequences of physical interaction. We study execution as a locus of adaptation: feedback guides the current action and supplies evidence for revising subsequent decisi...

He-Yang Yu, Hao-Min Li, Si-Hang Li et al. · 0 citations

#machine learning Preprint Sep 2026

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

A metric interaction framework that models object-level and scene-level interactions in physical Cartesian space at a shared metric scale and improves diverse VLA and WAM baselines with a small number of additional parameters and training steps is introduced.

Li-Jie Wang, Zheng Lu, Yi-Ming Wang et al. · 0 citations