Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which constrain policy outputs to simple distributions like Gaussians. In this work, we show how flow matching policy gradients, a recent framework that bypasses likelihood computation, can be made effective for training and finetuning more expressive policies in challenging robot control settings. We introduce an improved objective that enables success in legged locomotion, humanoid motion tracking, and manipulation tasks, as well as robust sim-to-real transfer on two humanoid robots. We then present ablations and analysis on training dynamics. Results show how policies can exploit the flow representation for exploration when training from scratch, as well as improved finetuning robustness over baselines.
This paper investigates developing real-world perception for active agents, proposes Gibson Environment for this purpose, and showcases a set of perceptual tasks learned therein.
F. Xia, Amir Zamir, Zhi-Yang He et al.· 2018 IEEE/CVF Conference on...· 1,069 citations· ⚡112
GAOKAO-Bench is introduced, an intuitive benchmark that employs questions from the Chinese GAOKAO examination as test samples, including both subjective and objective questions that contribute a robust evaluation benchmark for future large language models and offers valuable insights into the advantages and limitations...
Xiaotian Zhang, Chun-yan Li, Yi Zong et al.· arXiv.org· 216 citations· ⚡17
An algorithm is proposed which leverages disentangled semantic factors to generate adversarial perturbation by altering controlled semantic attributes to fool the learner towards various "adversarial" targets.
Haonan Qiu, Chaowei Xiao, Lei Yang et al.· arXiv.org· 208 citations· ⚡17
This work proposes a HALO that directly maximizes the utility of generations instead of maximizing the log-likelihood of preferences, and suggests that the best loss depends on the inductive biases most appropriate for a given setting, an oft-overlooked consideration.
This work investigates the possibilities of using LLMs in a resume screening setting via a document retrieval framework that simulates job candidate selection and finds that the MTEs are biased, significantly favoring White-associated names in 85% of cases and female-associated names in only 11.1% of cases.
This work shows that orders of magnitude enhancement in performance could be obtained by a combination of hardware improvements and tight quantum-HPC integration and introduces high-performance architectures for quantum-probabilistic computing with custom-designed accelerators to tackle today's industry-scale classical...
Masoud Mohseni, Artur Scherer, K. Johnson et al.· arXiv.org· 121 citations· ⚡9
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MIT News · Artificial Intelligence· news.mit.eduJul 30, 2026
From feet to fingertips — we are teaching robots intelligent whole-body control, fine dexterity, and teamwork to complete a broad range of complex tasks.
