8 papers
StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots
Xincheng Tang, Youhan Xie, Zhengjie Shu +5
Climbing hollow stairs remains a challenging problem for quadruped robots due to the high risk of leg trapping, severe depth sparsity, and high-frequency depth-sensing noise. In th…
ACCORD: Action-Conditioned Contextual Grounding for Language Agents
Lai Jiang, Cheng Qian, Zhenhailong Wang +3
User instructions are often underspecified because humans rely on implicit assumptions about the surrounding environment. For large language model (LLM) agents operating in informa…
SimWeaver: Zero-Shot RGB Sim-to-Real for Deformable Manipulation
Wenkang Hu, Haoran Wang, Yitong Li +10
RGB sim-to-real for deformable manipulation has remained largely unsolved without real-world fine-tuning. We present SimWeaver, which trains zero-shot RGB VLA policies on 200 simul…
Awakening the Sleeping Agent: Lean-Specific Agentic Data Reactivates General Tool Use in Goedel Prover
Jui-Hui Chung, Hongzhou Lin, Lai Jiang +2
Heavy supervised fine-tuning on a target domain can strongly suppress capabilities that were present in the base model. We study this phenomenon in formal mathematics using Goedel-…
SceneJailEval: A Scenario-Adaptive Multi-Dimensional Framework for Jailbreak Evaluation
Lai Jiang, Yuekang Li, Xiaohan Zhang +2
Accurate jailbreak evaluation is critical for LLM red team testing and jailbreak research. Mainstream methods rely on binary classification (string matching, toxic text classifiers…
Goedel-Prover-V2: Scaling Formal Theorem Proving with Scaffolded Data Synthesis and Self-Correction
Yong Lin, Shange Tang, Bohan Lyu +17
We introduce Goedel-Prover-V2, a series of open-source language models that set a new state-of-the-art in automated theorem proving. Built on the standard expert iteration and rein…