7 papers
The Geometry of Flow-Matching Uncertainty: A Cost-free Uncertainty Proxy and Its Application in Flow-based VLA Failure Detection
Ziyang Rao, Yiren Zhao, Weiyu Guo +3
Flow matching (FM) has become a popular action head paradigm for modern embodied models. However, as a conditional generative model, it does not explicitly expose its inherent unce…
How Should Vision-Language-Action Models Use Proprioceptive State?
Yiren Zhao, Ziyang Chen, Ziyang Rao +5
Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire it in incompatible ways -- serialized into text prompts, projected…
Source-Lifted Flow Matching for Intervenable Multimodal Imitation
He Zhang, Ying Sun, Pengteng Li +6
Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sa…
Towards Mechanistically Understanding Why Memorized Knowledge Fails to Generalize in Large Language Model Finetuning
Lu Dai, Ziyang Rao, Yili Wang +3
Fine-tuning LLMs to inject new knowledge faces a critical challenge: LLMs can quickly memorize new facts, yet fail to use them for downstream reasoning tasks. We formalize this fai…
Agents' Last Exam
Yiyou Sun, Xinyang Han, Weichen Zhang +306
Recent AI systems have achieved strong results on a wide range of benchmarks, yet these gains have not translated into economically meaningful deployment across many professional d…
LLM-Oriented Information Retrieval: A Denoising-First Perspective
Lu Dai, Liang Sun, Fanpu Cao +4
Modern information retrieval (IR) is no longer consumed primarily by humans but increasingly by large language models (LLMs) via retrieval-augmented generation (RAG) and agentic se…