6 papers
GWM-VLA: Geometry-Aware Latent World Modeling for Vision-Language-Action Learning
Yanping Zhao, Hang Yu, Yiwei Wang +7
Vision-Language-Action (VLA) models achieve strong robotic manipulation performance but often degrade under visual and environmental shifts. Latent world modeling offers a promisin…
ACSAC: Adaptive Chunk Size Actor-Critic with Causal Transformer Q-Network
Qian Chen, Junqiao Zhao, Hongtu Zhou +4
Long-horizon, sparse-reward tasks pose a fundamental challenge for reinforcement learning, since single-step TD learning suffers from bootstrapping error accumulation across succes…
Beyond Penalization: Diffusion-based Out-of-Distribution Detection and Selective Regularization in Offline Reinforcement Learning
Qingjun Wang, Hongtu Zhou, Hang Yu +5
Offline reinforcement learning (RL) faces a critical challenge of overestimating the value of out-of-distribution (OOD) actions. Existing methods mitigate this issue by penalizing…
ASTRO: Adaptive Stitching via Dynamics-Guided Trajectory Rollouts
Hang Yu, Di Zhang, Qiwei Du +5
Offline reinforcement learning (RL) enables agents to learn optimal policies from pre-collected datasets. However, datasets containing suboptimal and fragmented trajectories presen…
RouteNator: A Router-Based Multi-Modal Architecture for Generating Synthetic Training Data for Function Calling LLMs
Vibha Belavadi, Tushar Vatsa, Dewang Sultania +5
This paper addresses fine-tuning Large Language Models (LLMs) for function calling tasks when real user interaction data is unavailable. In digital content creation tools, where us…
Assessing biomedical knowledge robustness in large language models by query-efficient sampling attacks
R. Patrick Xian, Alex J. Lee, Satvik Lolla +4
The increasing depth of parametric domain knowledge in large language models (LLMs) is fueling their rapid deployment in real-world applications. Understanding model vulnerabilitie…