10 papers
FocusOPD: Structure-Guided On-Policy Distillation for Diffusion Models
Xinrui Lin, Shumin Wang, Suqi Song +2
Multi-teacher on-policy distillation enables rectified-flow models with diffusion-transformer architectures to combine task-specific capabilities within a single student. However,…
When Pairwise Preferences Cycle: A Reliability-Anchored Preference Walk for Video GRPO
Xinrui Lin, Fan Li, Shumin Wang +2
Pairwise preference feedback has become a widely adopted supervision signal for reinforcement learning in video generation models, as pairwise comparisons provide a more reliable a…
-Bench: Can Large Language Models Engineer the Infrastructure That Powers Them?
Leilei Ding, Shumin Wang, Yuting Huang +10
Large language models (LLMs) now show strong reasoning and coding abilities, raising the prospect that they could assist in developing and optimizing the very infrastructure that p…
LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
Zhipeng Tang, Sihang Chen, Sha Zhang +11
Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots are supposed to dexterously manipulate diverse labware and instrume…
Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory
Yuhan Wu, Zhao Jin, Tao Li +9
Laboratory automation has made remarkable progress through robotic platforms and AI-driven scientific reasoning. However, many laboratory operations (e.g., solid--solid transfer) r…
DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
Wenhao Yu, Yu'ang Xie, Yifan Duan +5
Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizo…
OpenGo: An OpenClaw-Based Robotic Dog with Real-Time Skill Switching
Hanbing Li, Xuewei Cao, Zhiwen Zeng +3
Adaptation to complex tasks and multiple scenarios remains a significant challenge for a single robot agent. The ability to acquire organize, and switch between a wide range of ski…
On the Entropy Dynamics in Reinforcement Fine-Tuning of Large Language Models
Shumin Wang, Yuexiang Xie, Wenhao Zhang +4
Entropy serves as a critical metric for measuring the diversity of outputs generated by large language models (LLMs), providing valuable insights into their exploration capabilitie…
Self-Supervised Pre-training with Combined Datasets for 3D Perception in Autonomous Driving
Shumin Wang, Zhuoran Yang, Lidian Wang +7
The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-trai…
CLMASP: Coupling Large Language Models with Answer Set Programming for Robotic Task Planning
Xinrui Lin, Yangfan Wu, Huanyu Yang +3
Large Language Models (LLMs) possess extensive foundational knowledge and moderate reasoning abilities, making them suitable for general task planning in open-world scenarios. Howe…