الباحثون

Yilang Liu

المنشورات 2

نسخة أولية وصول مفتوح

EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics

Zeyu Shen, Haoxiang You, Yilang Liu وآخرون · 2026

We study coding agents for long-horizon, dexterous robotics and ask whether their solutions can provide scalable supervision for learning general robot policies. To test this, we develop EMBODIEDSWE-BENCH, a simulation benchmark for coding agents spanning contact-rich manipulation, deformable objects, and long-horizon …

نسخة أولية وصول مفتوح

Accelerating Visual Policy Learning with Sampling-Based Model Predictive Control

Yilang Liu, Haoxiang You, Qian Wang وآخرون · 2026

Learning visual policies for locomotion and manipulation requires coordinating contact with the environment and can incur substantial computation and GPU memory costs. First-order policy gradients (FoPG) reduce training cost through differentiable simulation, but local optimization can converge to unintended contact pa …

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