3 papers
cs.RO2026
Task-Centric Policy Optimization from Misaligned Motion Priors
Ziang Zheng, Kai Feng, Yi Nie +1
Humanoid control often leverages motion priors from human demonstrations to encourage natural behaviors. However, such demonstrations are frequently suboptimal or misaligned with r…
cs.LG2025
RiskPO: Risk-based Policy Optimization via Verifiable Reward for LLM Post-Training
Tao Ren, Jinyang Jiang, Hui Yang +10
Reinforcement learning with verifiable reward has recently emerged as a central paradigm for post-training large language models (LLMs); however, prevailing mean-based methods, suc…
cs.CV2025
Half-order Fine-Tuning for Diffusion Model: A Recursive Likelihood Ratio Optimizer
Tao Ren, Zishi Zhang, Jingyang Jiang +9
The probabilistic diffusion model (DM), generating content by inferencing through a recursive chain structure, has emerged as a powerful framework for visual generation. After pre-…