相关论文: Virtual reference feedback tuning with robustness …

Reinforcement Learning with Verifiable reward (RLVR) on preference data has become the mainstream approach for training Generative Reward Models (GRMs). Typically in pairwise rewarding tasks, GRMs generate reasoning chains ending with…

Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…

Reinforcement finetuning (RFT) has shown great potential for enhancing the mathematical reasoning capabilities of large language models (LLMs), but it is often sample- and compute-inefficient, requiring extensive training. In this work, we…

This paper presents a novel method for efficiently solving a trajectory planning problem for swarm robotics in cluttered environments. Recent research has demonstrated high success rates in real-time local trajectory planning for swarm…

Reinforcement learning from human feedback (RLHF) has proven effective in aligning large language models with human preferences, inspiring the development of reward-centric diffusion reinforcement learning (RDRL) to achieve similar…

The Low Latency Fault Tolerance (LLFT) system provides fault tolerance for distributed applications, using the leader-follower replication technique. The LLFT system provides application-transparent replication, with strong replica…

Reinforcement learning from human feedback (RLHF) has evolved to be one of the main methods for fine-tuning large language models (LLMs). However, existing RLHF methods are non-robust, and their performance deteriorates if the downstream…

Unlike fixed-gain robust control, which trades off performance with modeling uncertainty, direct adaptive control uses partial modeling information for online tuning. The present paper combines retrospective cost adaptive control (RCAC), a…

With Vision Transformers (ViTs) making great advances in a variety of computer vision tasks, recent literature have proposed various variants of vanilla ViTs to achieve better efficiency and efficacy. However, it remains unclear how their…

Reinforcement Fine-Tuning (RFT) is proved to be greatly valuable for enhancing the reasoning ability of LLMs. Researchers have been starting to apply RFT to MLLMs, hoping it will also enhance the capabilities of visual understanding.…

Robot navigation in complex environments necessitates controllers that prioritize safety while remaining performant and adaptable. Traditional controllers like Regulated Pure Pursuit, Dynamic Window Approach, and Model-Predictive Path…

Reinforcement Learning with Verifiable Rewards (RLVR) has recently strengthened LLM reasoning, but its focus on final answer correctness leaves a critical gap: it does not ensure the robustness of the reasoning process itself. We adopt a…

To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…

Modern computing systems face security threats, including memory corruption attacks, speculative execution vulnerabilities, and control-flow hijacking. Although existing solutions address these threats individually, they frequently…

In this paper, we present a novel control scheme for feedback optimization. That is, we propose a discrete-time controller that can steer the steady state of a physical plant to the solution of a constrained optimization problem without…

OpenAI's recent introduction of Reinforcement Fine-Tuning (RFT) showcases the potential of reasoning foundation model and offers a new paradigm for fine-tuning beyond simple pattern imitation. This technical report presents \emph{OpenRFT},…

In the past decades, the rapid growth of computer and database technologies has led to the rapid growth of large-scale datasets. On the other hand, data mining applications with high dimensional datasets that require high speed and accuracy…

The vertical ground reaction force (vGRF) and its characteristic weight acceptance and push-off peaks measured during walking are important for gait and biomechanical analysis. Current wearable vGRF estimation methods suffer from drifting…

Synchronization in power systems is traditionally achieved through physical network coupling, whereby inverter-based resources (IBRs) and synchronous machines converge to a common frequency via oscillatory swing dynamics. In conventional…

In this paper, we study randomized methods for feedback design of uncertain systems. The first contribution is to derive the sample complexity of various constrained control problems. In particular, we show the key role played by the…