5 papers
DDX-TRACE: A Benchmark for Medical Diagnostic Trajectories in VLMs
Jiazhen Pan, Weixiang Shen, Jun Li +7
Medical diagnosis is not a single prediction from a fully specified vignette. It is a sequential workup: clinicians decide what evidence to obtain, revise a differential diagnosis,…
Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
Chengyu Deng, Guanqi Chen, Yizhou Chen +4
Diffusion-based policies have established a new standard for precise robotic manipulation but face a critical scalability bottleneck: high-performance models are computationally ex…
Beyond Pixels: Learning Invariant Rewards for Real-World Robotics From a Few Demonstrations
Tengye Xu, Yangting Sun, Ziju Shen +5
Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation…
Beyond Action Residuals: Real-World Robot Policy Steering via Bottleneck Latent Reinforcement Learning
Dongjie Yu, Kun Lei, Zhennan Jiang +2
Pretrained imitation policies have become a strong foundation for robot manipulation, but they often require online improvement to overcome execution errors, limited dataset covera…
Lyapunov Stability Learning with Nonlinear Control via Inductive Biases
Yupu Lu, Shijie Lin, Hao Xu +2
Finding a control Lyapunov function (CLF) in a dynamical system with a controller is an effective way to guarantee stability, which is a crucial issue in safety-concerned applicati…