Author

Zhi Li

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Preprint Aug 2026

SUN: Agentic Robot Policy Learning with Persistent Task Programs

Model-based control can directly execute specified objectives, while learning can amortize such behaviors into reactive policies, making their combination a natural solution to multi-stage manipulation. We introduce Semantically UNified (SUN) Programs, typed executables that compile grounded relations into aligned opti...

Wei-Qi Wang, Zhi Li, Yuliang Lei et al. · 0 citations

#artificial intelligence Preprint Aug 2026

SUN: Persistent Programs For Language-Grounded Control-to-Learning-to-Real Policies

The results establish that simulation-screened task semantics can effectively amortize control into robust policies, without demonstrations or manual dense rewards, unifying symbolic planning and data-driven execution.

Wei-Qi Wang, Zhi Li, Yuliang Lei et al. · 0 citations

Preprint Aug 2026

FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences

This recipe for loco-manipulation generalist policies is replicated and extended to multi-object training, a first step toward loco-manipulation generalist policies at this data scale.

Omar Rayyan, Zhi Li, Max Argus et al. · 1 citation