Authors

Xu-Yao Zhang

Publications 2

Preprint Open access

No Task Vector Is an Island: A Comprehensive Study on the Composability of Task Vectors from On-Policy Distillation

Jingang Zhou, Feiyu Han, Han Zhu et al. · 2026

Task vectors provide a simple mechanism for composing learned capabilities through model merging. However, the composability of task vectors produced by on-policy distillation (OPD) remains largely unexplored. OPD trains a student using teacher feedback on student-generated trajectories, yielding parameter updates that …

Preprint Open access

HIRE: History-Conditioned Interaction Reasoning and High-Rate Execution for Visually Aliased Precision Manipulation

Rongji Li, Wenhao He, Cewu Lu et al. · 2026

Precision manipulation with contact-critical interactions is often history-dependent: visually similar observations can correspond to different latent interaction states and therefore require different actions, while small execution errors can alter task outcomes. Policies relying on the current visual observation alon …

Co-authors