Publications

Generative Neural Retargeting for Human-to-Robot Dexterous Manipulation

Dechen Gao*, Yue Yang*, Ben Abbatematteo, Nathan Godwin, Pengcheng Wang, Roger Boldu, Steven Man, Zhiyang Dou, Chuan Qin, Sho Nakagome, Eric Whitmire

Under review

Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies

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

Under review

@misc{yang2026sensingmodalitymattersevidencegated,
      title={Sensing Which Modality Matters: Evidence-Gated Regularization for Robust VLA Policies},
      author={Yue Yang and Diego Romeres and Chiori Hori and Gedas Bertasius and Daniel Szafir and Siddarth Jain},
      year={2026},
      eprint={2609.03142},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2609.03142},
}

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

Under review

@misc{jiang2026rolloutresetgraphbasedharness,
      title={From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation},
      author={Jing Jiang and Yue Yang and Xinkai Jiang and Gedas Bertasius and Daniel J. Szafir and Rudolf Lioutikov},
      year={2026},
      eprint={2609.19413},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2609.19413},
}

Diagnosing and Recovering from Observation-Space Shift at Long-Horizon Skill Seams

Pranav Wagh, Yu Fang, Yue Yang, Mingyu Ding

Under review

WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation

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

Under review

@misc{li2026watchactbenchmarkbehaviorgroundedrobot,
      title={WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation},
      author={Baiqi Li and Ce Zhang and Yu Fang and Yue Yang and Shangzhe Li and Mingyu Ding and Gedas Bertasius},
      year={2026},
      eprint={2606.26443},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2606.26443},
}

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

Under review

@misc{fang2026denserewarddenserewardlearning,
      title={DenseReward: Dense Reward Learning via Failure Synthesis for Robotic Manipulation},
      author={Yu Fang and Wanxi Dong and Jiaqi Liu and Yue Yang and Mingxiao Huo and Yao Mu and Huaxiu Yao and Li Erran Li and Daniel Szafir and Mingyu Ding},
      year={2026},
      eprint={2607.13033},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2607.13033},
}

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

Under review

Best Paper Award, IROS 2026 Workshop on Compositional and Modular Learning

@misc{yang2026lilovlacompositionallonghorizonmanipulation,
      title={LiLo-VLA: Compositional Long-Horizon Manipulation via Linked Object-Centric Policies},
      author={Yue Yang and Shuo Cheng and Yu Fang and Homanga Bharadhwaj and Mingyu Ding and Gedas Bertasius and Daniel Szafir},
      year={2026},
      eprint={2602.21531},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2602.21531},
}

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

Spotlight

@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}
}

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

Under review

@misc{ma2026furniturevlalearninglonghorizonbimanual,
      title={FurnitureVLA: Learning Long-Horizon Bimanual Furniture Assembly with Vision-Language-Action Model},
      author={Chenyang Ma and Yue Yang and Radu Corcodel and Siddarth Jain and Andrew Wu and Chiori Hori and Diego Romeres},
      year={2026},
      eprint={2607.01212},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2607.01212},
}

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}
}

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}
}

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}
}

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 (T-FR), 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 (T-FR)},
  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}
}

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}
}

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}
}

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}
}

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

Xingyi Yang, Xuehai He, Yuxiao Liang, Yue Yang, Shanghang Zhang, Pengtao Xie

arXiv:2007.04234, 2020

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