13 papers
Doob-Based Generative Policy Optimization
Maojiang Su, Qijie Zhu, Yu Xiao +4
Diffusion and flow models provide expressive policy classes for robotic and sequential decision-making systems. However, their action likelihoods are generally intractable, limitin…
Progress Reward Modeling for Robotic Learning: A Comprehensive Survey
Jianshu Zhang, Keliang Wu, Haoran Lu +8
Robotic learning takes place in dynamic environments with large behavior spaces. A terminal success signal only tells the robot whether the task is completed. It does not explain w…
APT: Atomic Physical Transitions for Causal Video-Language Understanding
Shang Wu, Haoran Lu, Songling Liu +6
Physical events are not understood by their names alone, but by the causal state changes that compose them. A clip-level label such as "bounce" can be correct while hiding the proc…
MagicSim: A Unified Infrastructure for Executable Embodied Interaction
Haoran Lu, Songling Liu, Yue Chen +15
Robot learning and embodied agents now require simulation to serve as a shared execution substrate linking control, skills, and planning, not only as a renderer, controller testbed…
SPACENUM: Revisiting Spatial Numerical Understanding in VLMs
Jianshu Zhang, Yijiang Li, Huifeixin Chen +4
Vision-Language Models (VLMs) are increasingly deployed in embodied environments, where they need produce numerical outputs such as action magnitudes and spatial coordinates. Altho…
Separators in Enhancing Autoregressive Pretraining for Vision Mamba
Hanpeng Liu, Zidan Wang, Shuoxi Zhang +2
The state space model Mamba has recently emerged as a promising paradigm in computer vision, attracting considerable attention for its efficient handling of long-sequence tasks. It…
PhyPrompt: RL-based Prompt Refinement for Physically Plausible Text-to-Video Generation
Shang Wu, Chenwei Xu, Zhuofan Xia +6
State-of-the-art text-to-video (T2V) generators frequently violate physical laws despite high visual quality. We show this stems from insufficient physical constraints in prompts r…
Phys4D: Fine-Grained Physics-Consistent 4D Modeling from Video Diffusion
Haoran Lu, Shang Wu, Songling Liu +9
Recent video diffusion models have achieved impressive capabilities as large-scale generative world models. However, these models often struggle with fine-grained physical consiste…
PROGRESSLM: Towards Progress Reasoning in Vision-Language Models
Jianshu Zhang, Chengxuan Qian, Haosen Sun +4
Estimating task progress requires reasoning over long-horizon dynamics rather than recognizing static visual content. While modern Vision-Language Models (VLMs) excel at describing…
Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
Guo Ye, Zexi Zhang, Xu Zhao +4
Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently,…
AdvEvo-MARL: Shaping Internalized Safety through Adversarial Co-Evolution in Multi-Agent Reinforcement Learning
Zhenyu Pan, Yiting Zhang, Zhuo Liu +13
LLM-based multi-agent systems excel at planning, tool use, and role coordination, but their openness and interaction complexity also expose them to jailbreak, prompt-injection, and…
Evo-MARL: Co-Evolutionary Multi-Agent Reinforcement Learning for Internalized Safety
Zhenyu Pan, Yiting Zhang, Yutong Zhang +8
Multi-agent systems (MAS) built on multimodal large language models exhibit strong collaboration and performance. However, their growing openness and interaction complexity pose se…
FairReason: Balancing Reasoning and Social Bias in MLLMs
Zhenyu Pan, Yutong Zhang, Jianshu Zhang +6
Multimodal Large Language Models (MLLMs) already achieve state-of-the-art results across a wide range of tasks and modalities. To push their reasoning ability further, recent studi…