Naiyu Fang

ACE Robotics, Tsinghua University

Tsinghua AI

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Publication activitypapers/week, last 8 weeks

Research focus

Scalable Oversight & Alignment Theory (1)Training Efficiency & Optimization (1)World Models & Planning (1)

Frequent co-authors

Tongyan Fang (1)Siyuan Huang (1)Ganlong Zhao (1)Zhongjin Luo (1)

Papers (1)

Jun 15, 2026

Tsinghua AI2d ago·also ACE Robotics, CUHK

Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes

Fine-tuning with HABC boosts task success rates from as low as 12% to over 90% by intelligently balancing viability and efficiency in sparse feedback scenarios.

Tongyan Fang, Siyuan Huang, Naiyu Fang +6

Scalable Oversight & Alignment Theory Training Efficiency & Optimization World Models & Planning

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Naiyu Fang

Publication activitypapers/week, last 8 weeks

Research focus

Frequent co-authors

Papers (1)