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Zhi-Yun Deng

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#machine learning Preprint Sep 2026

From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention

PARTS (Policy Adaptation with RL on Targeted Subtasks), a real-world subtask RL framework that concentrates practice at bottlenecks while allowing training rollouts to proceed with minimal human intervention, is presented.

Sichang Su, B. Yang, Zhi-Yun Deng et al. · 0 citations