6 citations · 7 across the 13 of their papers we have counts for
5 papers · 1 filter
Bridging Frontier Reasoning and Robot Execution: From Autonomous Demonstration Generation to Dense Language Supervision
Bosung Kim, Alexander Trevithick, Ruiyi Wang +1
Recent advances in frontier models enable robot manipulation from only a few demonstrations, but high inference latency limits their use for real-time robot control. To bridge this…
Introspective X Training: Feedback Conditioning Improves Scaling Across all LLM Training Stages
Brandon Cui, Ximing Lu, Jaehun Jung +7
We tackle the question of how to scale more efficiently across the many, ever-growing stages of current LLM training pipelines. Our guiding intuition stems from the fact that the d…
How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learning
Bosung Kim, Ruiyi Wang, David Acuna +5
Scaling robot policy learning is bottlenecked by the cost of collecting demonstrations, while language annotations for existing demonstrations are comparatively cheap. We study lan…
MASS-DPO: Multi-negative Active Sample Selection for Direct Policy Optimization
Rohan Surana, Xintong Li, Sheldon Yu +7
Multi-negative preference optimization under the Plackett--Luce (PL) model extends Direct Preference Optimization (DPO) by leveraging comparative signals across one preferred and m…
Golden Goose: A Simple Trick to Synthesize Unlimited RLVR Tasks from Unverifiable Internet Text
Ximing Lu, David Acuna, Jaehun Jung +12
Reinforcement Learning with Verifiable Rewards (RLVR) has become a cornerstone for unlocking complex reasoning in Large Language Models (LLMs). Yet, scaling up RL is bottlenecked b…