6 papers
ETA: A New Agentic Paradigm for Embodied Tasks
Yitong Chen, Zezheng Huai, Sixian Li +7
When will robots have their ChatGPT moment? Such a breakthrough requires a general-purpose robot that can handle unfamiliar tasks in unfamiliar environments, remain controllable ov…
Inside the Unfair Judge: A Mechanistic Interpretability Account of LLM-as-Judge Bias
Zixiang Xu, Sixian Li, Huaxing Liu +4
Existing studies of LLM-as-judge scoring bias work predominantly at the input-output level: they perturb inputs, measure score deltas, and propose prompt-level mitigations. We argu…
CoRE-VLA: Towards Scalable and Robust Vision-Language-Action Modeling via Conditional Routing of Experts
Haozhe Zhang, Sixian Li, Yifei Zhang +5
Vision-language-action (VLA) models have advanced generalist robotic manipulation, yet real-world deployment reveals a fundamental challenge: robots are equipped with diverse and h…
Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models
Jinhao Wu, Shiduo Zhang, Yicheng Liu +9
Most vision-language-action (VLA) models map observations directly to actions without explicit intermediate planning, which limits performance on long-horizon tasks where early mis…
FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
Peng Li, Zihan Zhuang, Yangfan Gao +16
Humanoid robots are capable of performing various actions such as greeting, dancing and even backflipping. However, these motions are often hard-coded or specifically trained, whic…
TL-Training: A Task-Feature-Based Framework for Training Large Language Models in Tool Use
Junjie Ye, Yilong Wu, Sixian Li +9
Large language models (LLMs) achieve remarkable advancements by leveraging tools to interact with environments, a critical step toward generalized AI. However, the standard supervi…