14 papers
RoboHarness: Memory-Driven Orchestration of Heterogeneous Robot Policies for Long-Horizon Planning
Jinbang Huang, Yuanzhao Hu, Zhiyuan Li +6
Long-horizon robotic tasks require diverse capabilities that no single policy can reliably provide. Heterogeneous policies offer complementary strengths, but orchestrating them req…
It Takes Two: Your GRPO Is Secretly DPO
Yihong Wu, Liheng Ma, Lei Ding +9
GRPO has emerged as a prominent reinforcement learning algorithm for post-training LLMs. Unlike critic-based methods, GRPO computes advantages by estimating the \emph{value baselin…
Abductive Reasoning with Probabilistic Commonsense
Joseph Cotnareanu, Chiara Roverato, Han Zhou +3
Recent efforts to improve the reasoning abilities of Large Language Models (LLMs) have focused on integrating formal logic solvers within neurosymbolic frameworks. A key challenge…
E-CARE: An Efficient LLM-based Commonsense-Augmented Framework for E-Commerce
Ge Zhang, Rohan Deepak Ajwani, Yaochen Hu +5
Finding relevant products given a user query is pivotal to an e-commerce platform, as it can drive shopping behavior and generate revenue. The challenge lies in accurately predicti…
H-WM: Robotic Task and Motion Planning Guided by Hierarchical World Model
Jinbang Huang, Wenyuan Chen, Zhiyuan Li +9
World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or nat…
One Demo Is All It Takes: Planning Domain Derivation with LLMs from A Single Demonstration
Jinbang Huang, Yixin Xiao, Zhanguang Zhang +3
Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP…