RE-0, a recursively verified policy improvement framework, which improves both teacher-assisted execution and the standalone student, and generalizes to novel robots and scenes, and RE-OPD, which turns verified interventions into supervision for on-policy distillation.
Jia-Wei Zhang, Xiang-Rong Zhang, Rui-Ke Song et al.· 0 citations
This paper revisit VLM inference and presents a new efficient guidance scheme that complements similarity-based guidance, and proposes Cross Modal Residual (CMR), a training-free visual token compression method that combines CMR, text-attention relevance, and residual-space diversity to retain task-relevant and complem...
Congyang Ou, Rui-Ke Song, Yang Zhou et al.· 1 citation
PACE, a credit-assignment framework for post-training on long-horizon manipulation, centered on a phase-progress-aware critic, is presented, demonstrating that PACE consistently achieves significant improvements over the strongest baseline.
Cheng-Ye Song, Jia-Wei Zhang, Rui-Ke Song et al.· 1 citation
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