5 papers
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
Xinyuan Luo, Xingrui Chen, Xunjian Yin +6
Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich…
Epistemic Context Learning: Building Trust the Right Way in LLM-Based Multi-Agent Systems
Ruiwen Zhou, Maojia Song, Xiaobao Wu +8
Individual agents in multi-agent (MA) systems often lack robustness, tending to blindly conform to misleading peers. We show this weakness stems from both sycophancy and inadequate…
Dual-Evolving Reinforcement Learning for Automated Reward Design
Sitao Cheng, Tianle Li, Xuhan Huang +2
Crafting effective reward signals remains a central challenge in reinforcement learning (RL) for complex reasoning. Existing methods for automated reward optimization search with a…
Atomic Skills are the Prerequisite: When Reinforcement Learning Synthesizes Compositional Reasoning, and When It Only Amplifies
Sitao Cheng, Xunjian Yin, Ruiwen Zhou +5
Does Reinforcement Learning (RL) merely amplify existing skills, or synthesize novel skills? We investigate this question through the lens of Complementary Reasoning: the critical…
The Geometry of Reasoning: Flowing Logics in Representation Space
Yufa Zhou, Yixiao Wang, Xunjian Yin +2
We study how large language models (LLMs) ``think'' through their representation space. We propose a novel geometric framework that models an LLM's reasoning as flows -- embedding…