Author

Tian-Run Hu

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Preprint Sep 2026

Agent Priors-guided Policy Learning

Robots that learn from a few demonstrations often require two forms of generalization. Compositional generalization recombines skills to solve new tasks, and skill generalization lets the learned policy behind each skill work in new situations. The two depend on each other, yet information is lost between composition a...

Pu-Ming Jiang, Tian-Run Hu, Hao-Zhe Du et al. · 0 citations

Preprint Sep 2026

Receding-Horizon Pushing with Composable Object-Centric Policies

Non-prehensile manipulation is practical for relocating large, heavy, or geometrically ungraspable objects. Yet, long-horizon pushing of arbitrarily-shaped 3D objects couples three problems: 1) where to push the object so as to approach the target pose, 2) whether each push is stable and reachable, 3) whether subsequen...

Zhi-Yi Yuan, Tian-Run Hu, An-Xing Xiao et al. · 0 citations