17 papers
UniMem: Complementary Episodic-to-Parametric Memory for Boundary-Agnostic Task Streams
Siyu Xia, Chenheng Zhang, Yanting Wu +8
Memory is essential for LLM agents to accumulate task experience and reuse task-specific execution strategies. However, real-world deployment over boundary-agnostic and evolving ta…
Skill-Pro: Learning Reusable Skills from Experience via Non-Parametric PPO for LLM Agents
Qirui Mi, Zhijian Ma, Mengyue Yang +4
LLM-driven agents excel at sequential decision-making but often rely on on-the-fly reasoning, re-deriving solutions even in recurring scenarios. This insufficient experience reuse…
CurES: From Gradient Analysis to Efficient Curriculum Learning for Reasoning LLMs
Yongcheng Zeng, Zexu Sun, Bokai Ji +7
Curriculum learning plays a crucial role in enhancing the training efficiency of large language models (LLMs) on reasoning tasks. However, existing methods often fail to adequately…
-StepNFT: Wider Space Needs Finer Steps in Online RL for Flow-based VLAs
Siting Wang, Xiaofeng Wang, Zheng Zhu +7
Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning…
Swimming Under Constraints: A Safe Reinforcement Learning Framework for Quadrupedal Bio-Inspired Propulsion
Xinyu Cui, Fei Han, Hang Xu +9
Bio-inspired aquatic propulsion offers high thrust and maneuverability but is prone to destabilizing forces such as lift fluctuations, which are further amplified by six-degree-of-…
Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters
Xinyu Cui, Xuanfa Jin, Xue Yan +7
Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to co…