180 citations · 184 across the 11 of their papers we have counts for
15 papers
What Should Robot Policies Learn to Predict? Rethinking Supervision Targets in Vision-Language-Action Learning
Haitao Shen, Hanyu Liu, Yihan Lin +7
Vision-language-action (VLA) policies are typically trained with action prediction as the primary supervision signal, since robots ultimately execute actions. Auxiliary objectives…
What Limits Cross-Task Generalization in World Action Models?
Chen Zhao, Zipeng Ye, Yihan Lin +2
Cross-task generalization remains difficult for world action models (WAMs), even when their predicted futures depict plausible manipulation. This gap can be attributed directly: we…
Flow-Support-Weighted Proposals for Test-Time Verified VLA Policies
Chen Zhao, Zipeng Ye, Haitao Shen +3
Test-time sampling promises to turn one action prediction into a set of distinct executable candidates that a verifier can choose among. Downstream fine-tuning works against that p…
RoboHarn-Evo: Evolving Hierarchical Physical Knowledge for Self-Improving Robotic Manipulation
Shifeng Bao, Fanding Huang, Yihan Lin +7
Vision-language models can coordinate long-horizon robot manipulation, yet successful task reasoning still depends on whether local physical interactions produce the intended effec…
JEPA-WAM: Learning Vision-Language-Action Policies with Joint-Embedding World Modeling
Yihan Lin, Jiawei He, Shifeng Bao +6
Robust robot control benefits from explicitly modeling state transitions, but video-generation world action models (WAMs) introduce substantial deployment cost. Existing latent WAM…
Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision
Haoyang Li, Guanlin Li, Youhe Feng +9
Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and action spaces differ fundamentally across robot platforms. We obser…
SpreadsheetBench 2: Evaluating Agents on End-to-End Business Spreadsheet Workflows
Jian Zhu, Yuzheng Zhang, Zeyao Ma +11
Spreadsheets are widely used for business analysis, financial modeling, reporting, and decision-making. However, most existing spreadsheet benchmarks evaluate isolated operations s…
ProcVLM: Learning Procedure-Grounded Progress Rewards for Robotic Manipulation
Youhe Feng, Hansen Shi, Haoyang Li +7
Long-horizon robotic manipulation requires dense feedback that reflects how a task advances through its procedural stages, not merely whether the final outcome is successful. Exist…
TokenPB: Enabling VLA Action Self-Verification via VLM Token Probability Bucketing
Chen Zhao, Zhuoran Wang, Haoyang Li +6
Test-time sampling can improve Vision-Language-Action (VLA) policies, but only if the model can efficiently select a good action from multiple candidates. Prior work often relies o…
Dynamic Scaling of Unit Tests for Code Reward Modeling
Zeyao Ma, Xiaokang Zhang, Jing Zhang +3
Current large language models (LLMs) often struggle to produce accurate responses on the first attempt for complex reasoning tasks like code generation. Prior research tackles this…
CoT-based Synthesizer: Enhancing LLM Performance through Answer Synthesis
Bohan Zhang, Xiaokang Zhang, Jing Zhang +3
Current inference scaling methods, such as Self-consistency and Best-of-N, have proven effective in improving the accuracy of LLMs on complex reasoning tasks. However, these method…
ChatGLM: A Family of Large Language Models from GLM-130B to GLM-4 All Tools
Team GLM, :, Aohan Zeng +56
We introduce ChatGLM, an evolving family of large language models that we have been developing over time. This report primarily focuses on the GLM-4 language series, which includes…
SpreadsheetBench: Towards Challenging Real World Spreadsheet Manipulation
Zeyao Ma, Bohan Zhang, Jing Zhang +6
We introduce SpreadsheetBench, a challenging spreadsheet manipulation benchmark exclusively derived from real-world scenarios, designed to immerse current large language models (LL…
TableLLM: Enabling Tabular Data Manipulation by LLMs in Real Office Usage Scenarios
Xiaokang Zhang, Sijia Luo, Bohan Zhang +12
We introduce TableLLM, a robust large language model (LLM) with 8 billion parameters, purpose-built for proficiently handling tabular data manipulation tasks, whether they are embe…
AlignBench: Benchmarking Chinese Alignment of Large Language Models
Xiao Liu, Xuanyu Lei, Shengyuan Wang +15
Alignment has become a critical step for instruction-tuned Large Language Models (LLMs) to become helpful assistants. However, the effective evaluation of alignment for emerging Ch…