5 papers
Learning Safety-Constrained Whole-Body Loco-Manipulation for Lunar Surface Operations
Alvaro Belmonte-Baeza, Miguel Cazorla, Gabriel J. García +2
Robotic systems for lunar surface operations must act autonomously and preserve their own integrity in an environment where failures are unrecoverable and continuous supervision is…
Hidden Decoding at Scale: Latent Computation Scaling for Large Language Models
Aiwei Liu, Cheng Shi, Chuhan Wu +44
Scaling Large Language Models (LLMs) has been driven mainly by enlarging the Transformer backbone, but for an already-strong model this requires another round of costly pretraining…
SyncTrack: Rhythmic Stability and Synchronization in Multi-Track Music Generation
Hongrui Wang, Fan Zhang, Zhiyuan Yu +4
Multi-track music generation has garnered significant research interest due to its precise mixing and remixing capabilities. However, existing models often overlook essential attri…
GPAS: Accelerating Convergence of LLM Pretraining via Gradient-Preserving Activation Scaling
Tianhao Chen, Xin Xu, Zijing Liu +12
Modern Large Language Models, such as the LLaMA, Qwen and DeepSeek series, predominantly adopt the Pre-LayerNorm (Pre-LN) Transformer architecture. While being stable during pretra…
Double-Checker: Enhancing Reasoning of Slow-Thinking LLMs via Self-Critical Fine-Tuning
Xin Xu, Tianhao Chen, Fan Zhang +11
While slow-thinking large language models (LLMs) exhibit reflection-like reasoning, commonly referred to as the "aha moment:, their ability to generate informative critiques and re…