4 papers
Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
Yiting Zhang, Shichen Li
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focu…
XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search
Yiting Zhang, Shichen Li, Elena Shrestha
Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occl…
Exploring Model Editing for LLM-based Aspect-Based Sentiment Classification
Shichen Li, Zhongqing Wang, Zheyu Zhao +2
Model editing aims at selectively updating a small subset of a neural model's parameters with an interpretable strategy to achieve desired modifications. It can significantly reduc…
Self-Training with Direct Preference Optimization Improves Chain-of-Thought Reasoning
Tianduo Wang, Shichen Li, Wei Lu
Effective training of language models (LMs) for mathematical reasoning tasks demands high-quality supervised fine-tuning data. Besides obtaining annotations from human experts, a c…