6 papers
Continuous-Time Motion Planning and Steering with Global Convergence
Mohsen Amiri, Sima Didari, Davoud Ataee Tarzanagh +2
Motion planning is central to robotics, and it is increasingly used to correct the motions proposed by learned planners and policies. In both uses, constraints must hold at every i…
ReVeal: A Reconstruction-Aware Real-to-Sim Framework for VLA Policy Evaluation
Xinyi Wang, Heng Hao, Wenjun Hu +5
Simulation-based evaluation provides a scalable and repeatable alternative to real-world evaluation of vision-language-action (VLA) policies. However, reconstruction errors can cau…
TLPO: Token-Level Policy Optimization for Mitigating Language Confusion in Large Language Models
Jinho Choo, JunSeung Lee, Jimyeong Kim +3
Large language models (LLMs) demonstrate strong multilingual capabilities, yet often fail to consistently generate responses in the intended language, exhibiting a phenomenon known…
MEGA-GUI: Multi-stage Enhanced Grounding Agents for GUI Elements
SeokJoo Kwak, Jihoon Kim, Boyoun Kim +5
Graphical User Interface (GUI) grounding - the task of mapping natural language instructions to screen coordinates - is essential for autonomous agents and accessibility technologi…
Preference Consistency Matters: Enhancing Preference Learning in Language Models with Automated Self-Curation of Training Corpora
JoonHo Lee, JuYoun Son, Juree Seok +2
Inconsistent annotations in training corpora, particularly within preference learning datasets, pose challenges in developing advanced language models. These inconsistencies often…
Improving Instruction Following in Language Models through Proxy-Based Uncertainty Estimation
JoonHo Lee, Jae Oh Woo, Juree Seok +11
Assessing response quality to instructions in language models is vital but challenging due to the complexity of human language across different contexts. This complexity often resu…