12 papers
TurnOPD: Making On-Policy Distillation Turn-Aware for Efficient Long-Horizon Agent Training
Yuhang Zhou, Kai Zheng, Haoling Li +3
On-policy distillation (OPD) trains a student policy by matching a stronger teacher on the student's own trajectories, offering a promising framework for language agent training. H…
Predicting Future Utility: Global Combinatorial Optimization for Task-Agnostic KV Cache Eviction
Ziyao Tang, Pengkun Jiao, Xinhang Chen +3
Given the quadratic complexity of attention, KV cache eviction is vital to accelerate model inference. Current KV cache eviction methods typically rely on instantaneous heuristic m…
ViSRA: A Video-based Spatial Reasoning Agent for Multi-modal Large Language Models
Tingshu Mou, Jiabo He, Renying Wang +5
Recent advances in Multi-modal Large Language Models (MLLMs) target 3D spatial intelligence, yet the progress has been largely driven by post-training on curated benchmarks, leavin…
Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
Hongjie Fang, Shirun Tang, Mingyu Mei +9
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabiliz…
Learning Dexterous Manipulation with Quantized Hand State
Ying Feng, Hongjie Fang, Yinong He +5
Dexterous robotic hands enable robots to perform complex manipulations that require fine-grained control and adaptability. Achieving such manipulation is challenging because the hi…
History-Aware Visuomotor Policy Learning via Point Tracking
Jingjing Chen, Hongjie Fang, Chenxi Wang +2
Many manipulation tasks require memory beyond the current observation, yet most visuomotor policies rely on the Markov assumption and thus struggle with repeated states or long-hor…