Chenyuan Chen, Ran Ding, Lechen Zhang, Zewen He, Yoshihiko Nakamura
原文摘要
Humanoid loco-manipulation in dynamic scenes is non-Markovian: cues vanish as objects change or are hidden, or leave the view as the robot turns and walks, yet whole-body vision-language-action (VLA) policies see only the present. We present WholeBodyMem, an object-guided perceptual memory that keeps the pre-history of object events seen before the robot acts on its goal. SAM3 tracks the task objects, and their events causally select key frames within an adaptive budget, which the action expert reads by cross-attention together with object tokens encoding appearance, geometry and time. We also contribute HuMeGo, a humanoid memory benchmark with six simulated and six real-world Unitree G1 tasks. Keeping the right frames rather than more frames, WholeBodyMem surpasses memoryless and uniform-memory baselines, raising its base policy's success from 29.1% to 72.6% in simulation and from 36.7% to 88.3% on the real robot, while also improving the standard SIMPLE tasks (70.2% to 86.9%).
Lechen Zhang University of Illinois at Urbana-Champaign, Yunxiang Zhang, Wei Hu OpenAI and University of Michigan - Ann Arbor, Lu Wang University of Michigan
原文摘要
Large reasoning models such as DeepSeek-R1 and their distilled variants achieve strong performance on complex reasoning tasks. Yet, distilling these models often demands large-scale data for supervised fine-tuning (SFT), motivating the pursuit of data-efficient training methods. To address this, we propose a skill-centric distillation framework that efficiently transfers reasoning ability to weaker models with two components: (1) Skill-based data selection, which prioritizes examples targeting the student model’s weaker skills, and (2) Skill-aware fine-tuning, which encourages explicit skill decomposition during problem solving. With only 1,000 training examples selected from a 100K teacher-generated corpus, our method surpasses random SFT baselines by +1.6% on Qwen3-4B and +1.4% on Qwen3-8B across five mathematical reasoning benchmarks. Further analysis confirms that these gains concentrate on skills emphasized during training, highlighting the effectiveness of skill-centric training for efficient reasoning distillation.
cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 2: Short Papers) · 2026 · 正式发表