4 papers · 1 filter
EvoScene-VLA: Evolving Scene Beliefs Inside the Action Decoder for Chunked Robot Control
Chushan Zhang, Ruihan Lu, Jinguang Tong +3
Chunked vision-language-action (VLA) policies generate multi-step actions from one observation and typically re-observe after executing the action chunk. Earlier actions change the…
Wasserstein Distributionally Robust Regret Optimization for Reinforcement Learning from Human Feedback
Yikai Wang, Shang Liu, Jose Blanchet
Reinforcement learning from human feedback (RLHF) is a central post-training tool for aligning large language models, but its training reward is only a learned proxy for true human…
Calibrating conditional risk
Andrey Vasilyev, Yikai Wang, Xiaocheng Li +1
We introduce and study the problem of calibrating conditional risk, which involves estimating the expected loss of a prediction model conditional on input features. We analyze this…
3D-IDE: 3D Implicit Depth Emergent
Chushan Zhang, Ruihan Lu, Jinguang Tong +2
Leveraging 3D information within Multimodal Large Language Models (MLLMs) has recently shown significant advantages for indoor scene understanding. However, existing methods, inclu…