9 papers
Cooperative Multi-Agent Vision-Language-Action Models via Reinforced Fine Tuning
Ruixiao Xu, Wong Lik Hang Kenny, Zhiqian Liu +12
We study reinforcement learning (RL) methods for cooperative multi-agent Vision-Language-Action (VLA) models. This problem is challenging because VLAs are pretrained on large-scale…
Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation
Jianing Guo, Fangzheng Chen, Zihao Mao +12
Flow matching has emerged as a standard paradigm for robotic manipulation owing to its strong expressive power for modelling complex, multimodal action distributions, alongside sim…
LAGO Policy: Latency-Aware Asynchronous Diffusion Policies with Goal-Directed Collision-Free Planning for Smooth Manipulation
Guowei Shi, Xupeng Xie, Yiming Luo +3
Diffusion-based visuomotor policies deployed with asynchronous inference often exhibit inter-chunk discontinuities and lack explicit mechanisms for obstacle-aware execution, leadin…
DHI: Leveraging Diverse Hallucination Induction for Enhanced Contrastive Factuality Control in Large Language Models
Jiani Guo, Xiangke Zeng, Jie Wu +1
Large language models (LLMs) frequently produce inaccurate or fabricated information, known as "hallucinations," which compromises their reliability. Existing approaches often trai…
SongSage: A Large Musical Language Model with Lyric Generative Pre-training
Jiani Guo, Jiajia Li, Jie Wu +3
Large language models have achieved significant success in various domains, yet their understanding of lyric-centric knowledge has not been fully explored. In this work, we first i…
X-Coder: Advancing Competitive Programming with Synthetic Tasks, Solutions, and Tests
Jie Wu, Haoling Li, Xin Zhang +8
Competitive programming remains challenging for code LLMs. Despite recent progress, many training pipelines still depend on scarce real-world data, raising concerns about scalabili…
Learning Human-Like RL Agents Through Trajectory Optimization With Action Quantization
Jian-Ting Guo, Yu-Cheng Chen, Ping-Chun Hsieh +4
Human-like agents have long been one of the goals in pursuing artificial intelligence. Although reinforcement learning (RL) has achieved superhuman performance in many domains, rel…
ToM: Leveraging Tree-oriented MapReduce for Long-Context Reasoning in Large Language Models
Jiani Guo, Zuchao Li, Jie Wu +5
Large Language Models (LLMs), constrained by limited context windows, often face significant performance degradation when reasoning over long contexts. To address this, Retrieval-A…
RobustVLA: On Robustness of Vision-Language-Action Model against Multi-Modal Perturbations
Jianing Guo, Zhenhong Wu, Chang Tu +13
In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broad…