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版本更新 · v4arXiv:2601.21343

Self-Improving Training & Thinking

Ellen Xiaoqing Tan, Jack Lanchantin, Zichun Yu, Polina Kirichenko, Shehzaad Dhuliawala, Danwei Li, Thao Nguyen, Jing Xu 等 14 位作者

原文摘要

Large language models are classically trained in stages: pretraining on raw text followed by post-training for instruction following and reasoning. However, this separation creates a fundamental limitation: many desirable behaviors such as safety, factuality, overall generation quality, and reasoning ability are only added at a late stage, even though the patterns learned earlier strongly shape a model's capabilities. To tackle this issue, we introduce a new way to pretrain and mid-train models that incorporates these behaviors earlier. We utilize an existing strong, post-trained model to both rewrite data and to judge policy model rollouts, thus introducing thinking and reinforcement earlier in training. We further improve reasoning at all stages by introducing the concept of self-improving post-thinking: improving the model's reasoning and self-judging ability by reasoning after generation. In our experiments, we show these approaches can give strong gains across multiple axes.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2608.03227

PFM-HR: Pose Flow Matching for Humanoid Robots

Yukang Gao, Yi Gu, Yangchen Zhou, Xingyu Chen, Zhaorui Wang, Fanghai Zhang, Hanyang Cao, Zhengyang Shen 等 12 位作者

原文摘要

Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for policy-induced pose transitions. We present Pose Flow Matching for Humanoid Robots (PFM-HR), a reusable flow matching prior trained directly on large scale unordered pose data. PFM-HR introduces the Pose Geometry Score (PGS), which quantifies how joint coordinate changes during rollouts align with the local geometry of pose variation captured by the prior. Using PGS to modulate the tracking reward guides policy exploration toward structured pose changes while keeping the prior frozen across tracking tasks. Experiments demonstrate that PFM-HR improves both single motion and general motion tracking, especially for highly dynamic motions.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36825

HC2Robot: Hyper-Connection Transformers with Predicted Foresight for Multi-Terrain Humanoid Parkour

Wenhao Xu, Yanheng Mai, Yifei Fu, Nan Zheng, Yanbo Zhou, Zirui Huang, Mingsheng Ling, Xinjue Wang 等 9 位作者

原文摘要

Humanoid parkour requires robots to reason about future footholds and whole-body motions over highly discontinuous terrain. We revisit the information asymmetry in asymmetric actor-critic learning for perceptive humanoid locomotion: the critic exploits privileged simulator signals during training, whereas the deployable actor operates solely from onboard perception. We argue that the key is not exposing privileged information to the actor, but learning a deployable approximation of it to narrow the information gap between training and deployment. We present HC2Robot, a deployable perceptive humanoid parkour framework consisting of a Predicted Foresight Module (PFM) and a Hyper-Connection (HC) Transformer. PFM predicts from deployable observations the policy-conditioned timing, location, and support quality of each foot's next touchdown event, converting privileged supervision into a deployable latent representation that provides the actor with predicted touchdown information without privileged runtime sensing. The HC Transformer further enhances temporal reasoning through learnable multi-stream routing, while a future motion prediction head provides short-horizon motion priors for regularization. Across stairs, gaps, high platforms, and slopes, HC2Robot achieves a mean simulated traversal success rate of 97.60% and consistently higher safe foothold rates than strong perceptive locomotion baselines, supporting improved traversal performance and geometric foothold support under deployable sensing.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36507

GRAFT: Geometry-Aware Residual Adaptation for Foundation Trackers

Liang Li, Guoyao Zhang, Xingyu Chen, Sikai Wu, Qianyang Wu, Yuhang Lin, Renjing Xu, Mingliang Zhou 等 9 位作者

原文摘要

Humanoid behavior foundation models (BFMs) provide reusable whole-body motion priors: given a kinematic reference, they generate coordinated joint commands for motion replay, teleoperation, and VLA control. However, trained primarily on flat-ground motion, BFMs lack an explicit mechanism to adapt foot placement, swing clearance, and contact timing to local terrain. Many terrain-aware BFM approaches address this limitation by retraining or fine-tuning the tracker together with perception, incurring substantial data and computation costs while coupling ordinary tracking to the perception pathway. To bridge this gap, we propose GRAFT, a geometry-aware residual adaptation framework for frozen behavior trackers. GRAFT preserves the BFM parameters and motion-reference interface, while a lightweight adapter adds terrain-conditioned corrections only to lower-body execution targets. The adapter is trained with task and foot-geometry rewards, regularized to suppress unnecessary corrections on flat ground, and distilled from privileged terrain observations to onboard depth. Because the frozen BFM already provides whole-body reference tracking and nominal locomotion, GRAFT reduces terrain learning to a focused execution-adaptation problem. We instantiate the framework on four frozen trackers and evaluate stairs, gaps, and platforms in simulation. We further validate it through real-world deployment on a Unitree G1, where the adapted SONIC tracker traverses terrain with onboard depth and unmodified references.

cs.RO

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1368ACL Anthology · ACL 2026

Learning from Near-Misses: Error-Aware Contrastive Few-Shot Learning for NL2Formula

Zhihao Shuai, Yiyun Chen The Hong Kong University of Science and Technology, Maolin Ma, Yutong Chen, Hanjia Qiu, Jing Xu The Hong Kong University of Science and Technology (Guanzhou), Ziye Chen, Weikai Yang Hong Kong University of Science and Technology (Guangzhou)

原文摘要

Natural Language to Excel Formula (NL2Formula) translates user intent into executable spreadsheet formulas. However, current models often produce near-miss outputs—formulas that parse correctly yet fail at execution due to an incorrect function, operator, or reference. Through a systematic error analysis, we find that these errors repeatedly arise from a small set of structural decision points, motivating the need for typed error supervision rather than general error signals. To this end, we introduce an abstract syntax tree (AST)-based error taxonomy that organizes common error modes by the kind of decision that goes wrong in the parse tree. Building on this taxonomy, we propose Error-Aware Contrastive Few-Shot Learning (ECFL), an error-aware framework that unifies training and inference around typed error supervision. During offline training, ECFL mines near-miss errors, assigns error types under the taxonomy, and builds error-aware contrastive demonstrations for fine-tuning. During online inference, a lightweight predictor estimates likely error types and triggers targeted retrieval of contrastive demonstrations to guide single-pass decoding. Experiments show ECFL improves Exact Match (EM) by 6.4 points over supervised fine-tuning (SFT) and matches self-consistency (SC@5) accuracy at substantially lower inference cost.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1863ACL Anthology · ACL 2026

On-the-Fly VLA Adaptation via Test-Time Reinforcement Learning

Changyu Liu, Yiyang Liu University of Missouri - Kansas City, Taowen Wang The Hong Kong University of Science and Technology, Qiao Zhuang University of Missouri - Kansas City, James Chenhao Liang U. S. Naval Research Laboratory, Wenhao Yang Lamar University, Renjing Xu The Hong Kong University of Science and Technology (Guangzhou), Qifan Wang Meta AI 等 10 位作者

原文摘要

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular, they are primarily trained via supervised fine-tuning or training-time reinforcement learning, requiring explicit fine-tuning phases, human interventions, or controlled data collection. Consequently, existing methods remain unsuitable for challenging simulated- or physical-world deployments, where robots must respond autonomously and flexibly to evolving environments. To address this limitation, we introduce a Test-Time Reinforcement Learning for VLAs (TT-VLA), a framework that enables on-the-fly policy adaptation during inference. TT-VLA formulates a dense reward mechanism that leverages step-by-step task-progress signals to refine action policies during test time while preserving the SFT/RL-trained priors, making it an effective supplement to current VLA models. Empirical results show that our approach enhances overall adaptability, stability, and task success in dynamic, previously unseen scenarios under simulated and real-world settings. We believe TT-VLA offers a principled step toward self-improving, deployment-ready VLAs.

cs.CL · cs.CV

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表