Author

Harbin Institute of Technology

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Preprint Oct 2026

TeachBack: Learning to Teach via Bidirectional Preference Optimization for On-Policy Self-Distillation

On-policy self-distillation (OPSD) enables a language model to learn from a Teacher instantiated from the same model but given access to privileged information, such as a reference solution. We find that access to sufficient privileged information allows the Teacher to generate highly accurate trajectories; however, ac...

Lin-Fei Ji, Jia-Yu Li, Hao-Zhao Wang et al. · 0 citations

Preprint Oct 2026

AstroBench: Benchmarking Free-Floating Capture and Space Robotic Manipulation

Capturing a loose object inside a spacecraft requires a robot to approach a target that can translate and rotate, and whose motion changes when contact is made. These conditions motivate evaluation beyond manipulation of supported objects. We introduce AstroBench, an open benchmark for free-floating capture and space r...

Zi-Zhe Wang, Jia-Yong Deng, Xin Lu et al. · 0 citations