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cs.RO2026
DepState-JEPA: Learning Depth-Grounded State Representation for Visual Perception and Manipulation
Xiujian Liang, Liuyuan Na, Zehao Du +6
Predictive representations for robot manipulation should connect scene geometry with the state changes induced by actions. Our intuition is that understanding what an action will c…
cs.LG2026
Entropy-Regularized Rank-Masked Policy Optimization for Test-Time Reinforcement Learning in Code Generation
Jiacheng Xu, Feng Chen, Xiuneng Xu +1
Existing methods for test-time reinforcement learning (TTRL) derive rewards from answer-level self-voting on unlabeled test-time tasks with canonical answers, but this breaks down…
cs.CL2026
Two-Stage Reinforcement Learning for Sound and Adversarial Test Generation in Code LLMs
Jiacheng Xu, Wentao Zhang, Zhiyi Lyu +4
Reinforcement learning (RL) has substantially advanced code generation with large language models (LLMs) through executable feedback. The feedback for coding problems mainly comes…