Author

Longyi Wang

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Jul 2026

LOTAPO: Leave-One-Turn Attribution for Self-Generated Process Rewards in Multi-Turn Search Reasoning

Reinforcement learning for multi-turn search reasoning typically relies on terminal outcome rewards, which cannot distinguish useful, redundant, and harmful intermediate interactions. We propose LOTAPO , a self-generated process-supervision method based on backward leave-one-turn attribution. For each search turn, LOTA...

Qiang Zhu, Jiajun Wu, Longyi Wang · arXiv.org · 1 citation

Preprint Aug 2026

One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation

Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity of embodied data, which spans diverse robot morphologies, camera configurations, and low-level action spaces. Existing paradigms typically address this mismatch through explicit action retargeting, human-to-r...

Xiaomi Embodied Intelligence Team, University of Macau Shaoqing Xu, Fang Li et al. · 0 citations