Humanoid soccer contact skills require more than producing high-impact foot-ball contacts: the robot must close the loop over perception, approach, alignment, impact, and recovery while its own motion induces substantial viewpoint changes, frequent loss of the ball from view, and uncertain contact outcomes. In this wor...
Jia-Kang Jin, Yi-Xiao Huo, Peng-Yuan Wang et al.· 0 citations
This work constructs a specialized dataset to demystify the emotional circuits underlying the three-stage ``Adapt-Aggregate-Execute''mechanism and discovers a functional decoupling: visual emotional cues are aggregated in middle layers via sentiment-specific attention heads, but are subsequently translated into narrati...
On-policy distillation (OPD) provides teacher supervision on states visited by the student, reducing the distribution gap between training and inference. However, in multi-turn agentic tasks, student deviations may accumulate over time, gradually moving the trajectory away from states where teacher guidance remains eff...
Thinking with images allows a multimodal model to compensate for limited perception by invoking visual tools through code. Yet the prevailing SFT-then-RL recipe creates a different supervision misalignment at each stage. SFT is expected to teach how to use tools, but trajectories from stronger teachers may succeed thro...
Delin Mao, Chenghao Sun, Jingwei Song et al.· 1 citation
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