7 papers
LiveMem: Maintaining Memory State Continuity in Long-Running LLM Inference
Zhichen Liu, Ruihan Sun, Hengjie Yang +4
Long-running assistants and agents consume interaction streams that eventually outgrow the context. Existing context retention, summarization, and retrieval preserve access to sele…
X4Val: Learning Neural Surrogates for Variance-Reduced Policy Evaluation
Rachel Luo, Michael Watson, Apoorva Sharma +6
Rigorous evaluation of learning-based robotic systems is an essential prerequisite for deployment. However, real-world test data is expensive to gather; moreover, in a typical iter…
BEACON: Cross-Domain Co-Training of Generative Robot Policies via Best-Effort Adaptation
Antong Zhang, Han Qi, Heng Yang
We introduce BEACON--Best-Effort Adaptation for Cross-Domain Co-Training--a theory-driven framework for training generative robot policies with abundant source demonstrations and l…
MICA: Multi-granularity Intertemporal Credit Assignment for Long-Horizon Emotional Support Dialogue
Naifan Zhang, Ruihan Sun, Jinwei Su +4
Reinforcement learning (RL) for large language models (LLMs) has shown strong performance in single-turn tasks, but extending it to multi-turn interaction remains challenging due t…
CF-VLA: Efficient Coarse-to-Fine Action Generation for Vision-Language-Action Policies
Fan Du, Feng Yan, Jianxiong Wu +8
Flow-based vision-language-action (VLA) policies offer strong expressivity for action generation, but suffer from a fundamental inefficiency: multi-step inference is required to re…
Flexible Locomotion Learning with Diffusion Model Predictive Control
Runhan Huang, Haldun Balim, Heng Yang +1
Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning…