4 papers
From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
Lin He, Yanyi Chen, Haofei Sun +2
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces th…
Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
Hao Li, Haofei Sun, Lin He
We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial t…
When Memory Updates but Behavior Does Not: Repairing Implicit Stale Dependencies in Personalized Agent Responses
Haofei Sun, Lin He
Memory-augmented agents can know that a user's stored state is outdated and still plan around the old value. The STALE benchmark calls this the implicit policy adaptation (IPA) gap…
MemSFT: Mitigating Alignment Tax with an External Parametric Memory
Jiarui Wang, Xiang Shi, Jiaqi Cao +8
Adapting Large Language Models (LLMs) to specialized domains often incurs an alignment tax, as fine-tuning on domain-specific tasks can cause catastrophic forgetting and substantia…