Publications

From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation

Jing Jiang*, Yue Yang*, Xinkai Jiang, Gedas Bertasius, Daniel Szafir, Rudolf Lioutikov* equal contribution

In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027

@article{jiang2026halter,
  title   = {From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation},
  author  = {Jiang, Jing and Yang, Yue and Jiang, Xinkai and Bertasius, Gedas and Szafir, Daniel and Lioutikov, Rudolf},
  journal = {In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027},
  year    = {2026}
}

Evidence-Gated Cross-Modal Invariance for Robust Vision-Language-Action Policies

Yue Yang, Diego Romeres, Chiori Hori, Gedas Bertasius, Daniel Szafir, Siddarth Jain

In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027

@article{yang2026sensing,
  title   = {Evidence-Gated Cross-Modal Invariance for Robust Vision-Language-Action Policies},
  author  = {Yang, Yue and Romeres, Diego and Hori, Chiori and Bertasius, Gedas and Szafir, Daniel and Jain, Siddarth},
  journal = {In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027},
  year    = {2026}
}

DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation

Yu Fang, Wanxi Dong, Jiaqi Liu, Yue Yang, Mingxiao Huo, Yao Mu, Huaxiu Yao, Li Erran Li, Daniel Szafir, Mingyu Ding

In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027

@article{fang2026densereward,
  title   = {DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation},
  author  = {Fang, Yu and Dong, Wanxi and Liu, Jiaqi and Yang, Yue and Huo, Mingxiao and Mu, Yao and Yao, Huaxiu and Li, Li Erran and Szafir, Daniel and Ding, Mingyu},
  journal = {In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027},
  year    = {2026}
}

FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model

Chenyang Ma, Yue Yang, Radu Corcodel, Siddarth Jain, Andrew Wu, Chiori Hori, Diego Romeres

In submission to IEEE Robotics and Automation Letters (RA-L)

@article{ma2026furniturevla,
  title   = {FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model},
  author  = {Ma, Chenyang and Yang, Yue and Corcodel, Radu and Jain, Siddarth and Wu, Andrew and Hori, Chiori and Romeres, Diego},
  journal = {In submission to IEEE Robotics and Automation Letters (RA-L)},
  year    = {2026}
}

WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation

Baiqi Li, Ce Zhang, Yu Fang, Yue Yang, Shangzhe Li, Mingyu Ding, Gedas Bertasius

In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027

@article{li2026watchact,
  title   = {WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation},
  author  = {Li, Baiqi and Zhang, Ce and Fang, Yu and Yang, Yue and Li, Shangzhe and Ding, Mingyu and Bertasius, Gedas},
  journal = {In submission to IEEE International Conference on Robotics and Automation (ICRA) 2027},
  year    = {2026}
}

LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies

Yue Yang, Shuo Cheng, Yu Fang, Homanga Bharadhwaj, Mingyu Ding, Gedas Bertasius, Daniel Szafir

In submission to IEEE Transactions on Robot Learning (T-RL)

@article{yang2026lilo,
  title   = {LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies},
  author  = {Yang, Yue and Cheng, Shuo and Fang, Yu and Bharadhwaj, Homanga and Ding, Mingyu and Bertasius, Gedas and Szafir, Daniel},
  journal = {In submission to IEEE Transactions on Robot Learning (T-RL)},
  year    = {2026}
}

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs

Yu Fang, Yuchun Feng, Dong Jing, Jiaqi Liu, Yue Yang, Zhenyu Wei, Daniel Szafir, Mingyu Ding

Proceedings of the Conference on Robot Learning (CoRL), 2026

@article{fang2026vision,
  title   = {When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs},
  author  = {Fang, Yu and Feng, Yuchun and Jing, Dong and Liu, Jiaqi and Yang, Yue and Wei, Zhenyu and Szafir, Daniel and Ding, Mingyu},
  journal = {Proceedings of the Conference on Robot Learning (CoRL)},
  year    = {2026}
}

Competency-Aware Collaborative Robotic Surface Exploration: A Study at the Mars Desert Research Station

Nicholas Conlon, Pawel Sawicki, Yue Yang, Nisar R Ahmed, Daniel Szafir

IEEE Transactions on Field Robotics, 2025

@article{conlon2025competency,
  title   = {Competency-Aware Collaborative Robotic Surface Exploration: A Study at the Mars Desert Research Station},
  author  = {Conlon, Nicholas and Sawicki, Pawel and Yang, Yue and Ahmed, Nisar R and Szafir, Daniel},
  journal = {IEEE Transactions on Field Robotics},
  year    = {2025}
}

Rebot: Scaling robot learning with real-to-sim-to-real robotic video synthesis

Yu Fang, Yue Yang, Xinghao Zhu, Kaiyuan Zheng, Gedas Bertasius, Daniel Szafir, Mingyu Ding

Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

@article{fang2025rebot,
  title   = {Rebot: Scaling robot learning with real-to-sim-to-real robotic video synthesis},
  author  = {Fang, Yu and Yang, Yue and Zhu, Xinghao and Zheng, Kaiyuan and Bertasius, Gedas and Szafir, Daniel and Ding, Mingyu},
  journal = {Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year    = {2025}
}

BOSS: Benchmark for Observation Space Shift in Long-Horizon Task

Yue Yang, Linfeng Zhao, Mingyu Ding, Gedas Bertasius, Daniel Szafir

IEEE Robotics and Automation Letters (RA-L), presented at ICRA 2026

@article{yang2025boss,
  title   = {BOSS: Benchmark for Observation Space Shift in Long-Horizon Task},
  author  = {Yang, Yue and Zhao, Linfeng and Ding, Mingyu and Bertasius, Gedas and Szafir, Daniel},
  journal = {IEEE Robotics and Automation Letters (RA-L), presented at ICRA 2026},
  year    = {2025}
}

Supporting Long-Horizon Tasks in Human-Robot Collaboration by Aligning Intentions via Augmented Reality

Chenyang Ma, Yue Yang, Bryce Ikeda, Daniel Szafir

Late-Breaking Reports, 2025 ACM/IEEE International Conference on Human-Robot Interaction (alt.HRI)

@inproceedings{ma2025supporting,
  title   = {Supporting Long-Horizon Tasks in Human-Robot Collaboration by Aligning Intentions via Augmented Reality},
  author  = {Ma, Chenyang and Yang, Yue and Ikeda, Bryce and Szafir, Daniel},
  booktitle = {Late-Breaking Reports, 2025 ACM/IEEE International Conference on Human-Robot Interaction (alt.HRI)},
  year    = {2025}
}

ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning

Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir

Proceedings of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

@inproceedings{yang2024arcade,
  title   = {ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learning},
  author  = {Yang, Yue and Ikeda, Bryce and Bertasius, Gedas and Szafir, Daniel},
  booktitle = {Proceedings of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year    = {2024}
}

Enhancing Safety in Learning from Demonstration Algorithms via Control Barrier Function Shielding

Yue Yang, Letian Chen, Zulfiqar Zaidi, Sanne van Waveren, Arjun Krishna, Matthew Gombolay

Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)

@inproceedings{yang2024enhancing,
  title   = {Enhancing Safety in Learning from Demonstration Algorithms via Control Barrier Function Shielding},
  author  = {Yang, Yue and Chen, Letian and Zaidi, Zulfiqar and van Waveren, Sanne and Krishna, Arjun and Gombolay, Matthew},
  booktitle = {Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  year    = {2024}
}

Augmented Reality Demonstrations for Scalable Robot Imitation Learning

Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir

7th International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions (VAM-HRI), 2024

@inproceedings{yang2024augmented,
  title   = {Augmented Reality Demonstrations for Scalable Robot Imitation Learning},
  author  = {Yang, Yue and Ikeda, Bryce and Bertasius, Gedas and Szafir, Daniel},
  booktitle = {7th International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions (VAM-HRI)},
  year    = {2024}
}

Annotated Hands for Generative Models

Yue Yang, Atith N Gandhi, Greg Turk

arXiv:2401.15075, 2024

@article{yang2024annotated,
  title   = {Annotated Hands for Generative Models},
  author  = {Yang, Yue and Gandhi, Atith N and Turk, Greg},
  journal = {arXiv preprint arXiv:2401.15075},
  year    = {2024}
}

Safe Inverse Reinforcement Learning via Control Barrier Function

Yue Yang, Letian Chen, Matthew Gombolay

Proceedings of CoRL Learning for Agile Robotics workshop, 2022

@inproceedings{yue2022cbfirl,
  title   = {Safe Inverse Reinforcement Learning via Control Barrier Function},
  author  = {Yang, Yue and Chen, Letian and Gombolay, Matthew},
  booktitle = {Proceedings of CoRL Learning for Agile Robotics workshop},
  year    = {2022}
}

Discriminative Cross-Modal Data Augmentation for Medical Imaging Applications

Yue Yang, Pengtao Xie

arXiv:2010.03468, 2020

@article{yang2020discriminative,
  title   = {Discriminative Cross-Modal Data Augmentation for Medical Imaging Applications},
  author  = {Yang, Yue and Xie, Pengtao},
  journal = {arXiv preprint arXiv:2010.03468},
  year    = {2020}
}

Supervised Pretraining or Self-supervised Pretraining? A Tale of Two Transfer Learning Paradigms

Xuehai He, Xingyi Yang, Yue Yang, Ruofan Guo, Yuxiao Liang, Shanghang Zhang, Li Du, Pengtao Xie

arXiv:2007.04234, 2020

@article{yang2020transfer,
  title   = {Supervised Pretraining or Self-supervised Pretraining? A Tale of Two Transfer Learning Paradigms},
  author  = {He, Xuehai and Yang, Xingyi and Yang, Yue and Guo, Ruofan and Liang, Yuxiao and Zhang, Shanghang and Du, Li and Xie, Pengtao},
  journal = {arXiv preprint arXiv:2007.04234},
  year    = {2020}
}