5 papers
ToolVision: Learning When and How to Use Visual Tools with Capability-Aligned Supervision
Delin Mao, Chenghao Sun, Jingwei Song +2
Thinking with images allows a multimodal model to compensate for limited perception by invoking visual tools through code. Yet the prevailing SFT-then-RL recipe creates a different…
Look Ahead Before You Distill: Future Trajectory Validation of Teacher Guidance for Agentic On-Policy Distillation
Chishui Chen, Yaoyou Fan, Te Sun +11
On-policy distillation (OPD) provides teacher supervision on states visited by the student, reducing the distribution gap between training and inference. However, in multi-turn age…
Interpreting and Enhancing Emotional Circuits in Large Vision-Language Models via Cross-Modal Information Flow
Chengsheng Zhang, Chenghao Sun, Zhining Xie +1
Large Vision-Language Models (LVLMs) represent a significant leap towards empathetic agents, demonstrating remarkable capabilities in emotion understanding. However, the internal m…
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
Qiang Zhang, Zhang Zhang, Wei Cui +13
The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We…
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion
Qiang Zhang, Gang Han, Jingkai Sun +6
In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics.…