5 papers · 1 filter
RLE-Bench: A Qualifying Exam for Coding Agents as Robot Learning Engineers
Haitong Ma, Chenxiao Gao, Rushi Qiang +2
Coding agents are beginning to move beyond purely digital tasks to tackle physical-world challenges, particularly in robotics. Existing robotics benchmarks, however, primarily focu…
A Single Diffusion-Policy Controller for Multi-Task Block Pushing with Zero-Shot Sim-to-Real Transfer
Haitong Ma, Haldun Balim, Yang Hu +2
Diffusion policies have shown promising empirical performance in representing and learning complex maneuvers for robots using behavior cloning (BC). In this paper, we explore train…
Learning to Adapt: Representation-Based Reinforcement Learning for Multi-Task Skill Transfer
Aryan Naveen, Haitong Ma, Haldun Balim +1
Reinforcement learning has achieved remarkable success in learning complex control policies, yet its applicability remains limited due to sample inefficiency and poor generalizatio…
GeMPO: Generalized Measure Matching for Online Diffusion Reinforcement Learning
Haitong Ma, Chenxiao Gao, Tianyi Chen +2
A commonly used family of RL algorithms for diffusion policies conducts softmax reweighting over samples from the behavior policy, which often induces an overgreedy policy and fail…
A Survey of Agent Memory in the Second Half: Towards Self-Evolving and Long-Horizon Agents
Wei-Chieh Huang, Weizhi Zhang, Yueqing Liang +56
Research in artificial intelligence is shifting from model innovations and benchmark scores towards problem definition and rigorous real-world evaluation. As the field enters the "…