Author

Jun Ma

2 papers indexed here

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Conference Aug 2026

Prior-Knowledge-Guided Reinforcement Learning for Musculoskeletal Locomotion

Reinforcement learning (RL) has achieved notable success in locomotion of robotic systems, yet remains challenged by high-dimensional and overactuated musculoskeletal systems. In this work, we propose a synergy-guided RL framework that incorporates biologically inspired priors extracted from pre-trained locomotion poli...

Jia-Yu Tang, Zhen Huang, De-Zhi Qin et al. · 2026 IEEE 22nd International... · 0 citations

Preprint Sep 2026

ForceRFT: Refining VLA Actions through Force-Guided Residual Reinforcement Learning

Force-conditioned vision-language-action (VLA) policies can respond to contact, but when trained solely on demonstrations, their recovery behavior may be limited by demonstration coverage, and they do not learn from deployment outcomes. Human corrective imitation provides additional recovery examples, but its objective...

Yi-Cheng Wang, Chao-Yang Zhang, Xu-Qi Su et al. · 0 citations