Author

Zhongyu Li

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Preprint Sep 2026

HiRE: Hindsight Reward Editing for Policy Finetuning

Pre-trained robot policies always require finetuning to adapt to specific environments. Reinforcement Learning (RL) offers high performance potential because it improves action optimality rather than simply mimicking data. However, such potential depends heavily on reward quality. Sparse rewards lack process feedback,...

Haoyi Niu, Zhen Han, Yu-Feng Ji et al. · 0 citations

Preprint Sep 2026

Humanoid Badminton: Learning Dynamic Racket Skills from Limited Human Motion Data

High-speed racket sports provide a demanding testbed for humanoid robots, requiring time-critical decisions, precise striking, and dynamic whole-body coordination. In badminton, fast-changing shuttle trajectories require timely contact decisions, while successful returns demand precise racket pose and velocity within a...

Jing-Zhi Cui, Zhe-Xiong Wang, Bang-Jie Xu et al. · 0 citations

Preprint Jul 2026

Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models

Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is necessary for forming action-compatible...

Yufeng Ji, Wenhao Tang, Haoyi Niu et al. · 0 citations