Author

Hao-Ming Gu

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Preprint Sep 2026

PF-RL: Progress Field Reinforcement Learning via Goal-Conditioned Value Geometry for Vision-Language-Action Models

Reinforcement Fine-Tuning~(RFT) has emerged as a promising paradigm for improving Vision-Language-Action~(VLA) policies, yet sparse task-level outcomes provide limited credit for intermediate transitions, especially in long-horizon manipulation. A natural approach is to model intermediate task progress and use it as de...

Yun-Peng Qing, Yi-Lun Kong, Si-Xu Lin et al. · 0 citations

Jul 2026

ACE-Brain-0.5: A Unified Embodied Foundational Model for Physical Agentic AI

ACE-Brain-0.5 is presented, a unified embodied foundation model that organizes robot intelligence into five coupled functions: spatial perception, decision making, embodied interaction, self-monitoring, and self-improvement, and SSR+, which extends Scaffold-Specialize-Reconcile with a Reactivate stage after task-vector...

Zi-Yang Gong, Hao-Ming Gu, Ze-Hang Luo et al. · arXiv.org · 3 citations