Author

Yu Zhang

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#machine learning Preprint Sep 2026

EmbodiedMind: Adaptive Data Curation and Prefix-Tree Reinforcement Learning for Efficient Embodied Intelligence

Training embodied foundation models typically requires massive-scale datasets and extensive computational resources, yet often suffers from three critical limitations: (1) inefficient sample utilization due to low-informative samples; (2) imbalanced gradient contributions across heterogeneous tasks; and (3) severe cred...

Fei-Fan Wang, Zong-Bing Zhang, Yu Zhang et al. · 0 citations

Preprint Sep 2026

CA-OPD: Confidence-Aware On-Policy Distillation for Structured Visual Prediction

Autoregressive vision language models unify heterogeneous perception tasks but are highly susceptible to compounding errors. On-policy distillation (OPD) bridges the training-inference mismatch by training students on their own rollouts. However, unreliable student predictions, especially early in training, can derail...

Meng-Hao Li, Lin-Jie Mu, Yin Wang et al. · 1 citation