6 papers
Hilbert-Scale Stability of Posterior Diffusion Priors for Ill-Posed Signal Recovery
Bahman Moraffah, Raha Moraffah
Indirect and noisy observations are difficult to invert when the forward operator smooths out the unknown signal. In this case, the unstable modes are precisely the modes that the…
HELP: Human-Efficient Large-Scale Robot Post-Training with Rollout Segmentation
Shaopeng Zhai, Qi Zhang, Tianyi Zhang +5
When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses. In this repor…
Preserving Foundational Capabilities in Flow-Matching VLAs through Conservative SFT
Tianyi Zhang, Shaopeng Zhai, Haoran Zhang +2
Unconstrained fine-tuning of flow-matching Vision-Language-Action (VLA) models drives dense parameter overwrites, degrading pre-trained capabilities. We present Conservative Superv…
A Vision-Language-Action-Critic Model for Robotic Real-World Reinforcement Learning
Shaopeng Zhai, Qi Zhang, Tianyi Zhang +7
Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLA…
CLSP: High-Fidelity Contrastive Language-State Pre-training for Agent State Representation
Fuxian Huang, Qi Zhang, Shaopeng Zhai +6
With the rapid development of artificial intelligence, multimodal learning has become an important research area. For intelligent agents, the state is a crucial modality to convey…
Building Open-Ended Embodied Agent via Language-Policy Bidirectional Adaptation
Shaopeng Zhai, Jie Wang, Tianyi Zhang +6
Building embodied agents on integrating Large Language Models (LLMs) and Reinforcement Learning (RL) have revolutionized human-AI interaction: researchers can now leverage language…