8 papers
ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery
Yufei Liu, Xixi Wang, Hao Li +8
Egocentric video offers scalable manipulation data for embodied AI, yet recovering metric 3D hand trajectories remains challenging due to severe object occlusion and frequent out-o…
Skill Self-Play: Pushing the Frontier of LLM Capability with Co-Evolving Skills
Siyuan Huang, Pengyu Cheng, Haotian Liu +10
LLM training is shifting from manual design and annotation to interaction-driven self-evolution. However, existing self-evolutionary methods face a fundamental dilemma between task…
ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
Hao Li, Ganlong Zhao, Yufei Liu +8
Vision-Language-Action (VLA) models benefit from large-scale and diverse embodied data, yet scaling robot trajectory collection is costly and labor-intensive. Recent advances show…
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
Tongyan Fang, Siyuan Huang, Naiyu Fang +6
When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-tr…
GDPO: Mitigating Multi-Reward Conflicts via Group-Dynamic reward-Decoupled Policy Optimization
Haotian Liu, Yihao Liu, Jingwei Ni +11
As LLMs advance, post-training reinforcement learning (RL) increasingly relies on multi-dimensional rewards to cultivate comprehensive capabilities. This shift demands new algorith…
Test-time Adversarial Takeover: A Real-time Hijacking Interface against Robotic Diffusion Policies
Zi Yin, Peilin Chai, Siyuan Huang +1
Diffusion-based action generation has become a foundational component of embodied AI, but its reliance on visual conditioning leaves deployed visuomotor policies vulnerable to adve…