arXiv subjects

Minghao Ye

Publications and source records attributed to Minghao Ye.

4 recordsLinked to original sources

arXiv2026

KEMO: Event-Driven Keyframe Memory for Long-Horizon Robot Manipulation with VLA Policies

Long-horizon robot manipulation remains challenging because similar observations may occur at different execution stages, while the appropriate action depends on previously completed operations. Memory can address this ambiguity by enabling policies to infer task progress from execution history. However, existing memory-augmented approaches often either retain dense histories that require compression or rely primarily on recent context that may discard earlier task-relevant events. In this work, we propose propose KEMO, a lightweight plug-in memory framework that automatically selectively preserves keyframes associated with task-relevant state changes for VLA policies. KEMO combines robot kinematics with visual filtering to detect events, encodes the selected keyframes as compact temporally ordered memory tokens, and integrates them with current visual features through cross-attention and gated residual fusion for VLA training. The detected events also define higher-weight training samples near critical transitions. We evaluate KEMO on various real-world dual-arm manipulation tasks spanning 2 to 6 scored subtasks, and trajectory length ranging from 830 steps to 2846 execution steps (durations from 28 to 95 seconds). Compared with the memory-free baseline (e.g., $\pi_{0.5}$), KEMO improves aggregate Task Success Rate by 23.6\% and Stage Completion Rate by 34.1\%. Ablations show that event-driven keyframe selection outperforms uniform sampling and recent-frame retention, while the proposed gated fusion and keyframe-aligned loss weighting provide complementary gains.

cs.RO↗

arXiv2026

Step-wise Rubric Rewards for LLM Reasoning

Reinforcement Learning with Verifiable Rewards (RLVR) is widely used to improve reasoning in large language models, but rewards only final-answer correctness with no supervision over intermediate steps. Rubric-based methods such as Rubrics as Rewards (RaR) introduce finer-grained supervision by scoring rollouts against structured criteria, yet the rubric scores are still aggregated into a single scalar applied to the entire response, causing three weaknesses: loss of multi-criterion structure, uniform supervision of correct and incorrect steps, and reward hacking through unbounded self-correction. On 1,000 problems, we find 18.2% of steps in correct-answer responses are wrong yet positively rewarded, while 49.9% of steps in incorrect-answer responses are correct yet penalized. We introduce Step-wise Rubrics as Rewards (SRaR), an RLVR framework that (i) uses an LLM judge to attribute each rubric item to a specific reasoning step, (ii) normalizes per-step rubric scores across rollouts so only steps whose quality varies produce a learning signal, and (iii) combines the per-step reward with the outcome reward through a decoupled advantage estimator that keeps the outcome baseline stable. We further build a 16K-problem rubric dataset by contrastively distilling rubric items from correct and flawed reasoning paths sampled from a strong model. Across six mathematical reasoning benchmarks, SRaR improves average accuracy over RaR by 3.57 points on Qwen3-8B and 2.75 points on Qwen3-32B, raises the Faithful Reasoning Rate on AIME 2025 from 34.5% to 46.7%, and reduces self-correction looping from 48.1% to 26.5%.

cs.LG↗

arXiv2025

RoboFAC: A Comprehensive Framework for Robotic Failure Analysis and Correction

Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and visual observations into control actions. However, existing VLAs are primarily trained on successful expert demonstrations and lack structured supervision for failure diagnosis and recovery, limiting robustness in open-world scenarios. To address this limitation, we propose the Robotic Failure Analysis and Correction (RoboFAC) framework. We construct a large-scale failure-centric dataset comprising 9,440 erroneous manipulation trajectories and 78,623 QA pairs across 53 scenes in both simulation and real-world environments, with systematically categorized failure types. Leveraging this dataset, we develop a lightweight multimodal model specialized for task understanding, failure analysis, and failure correction, enabling efficient local deployment while remaining competitive with large proprietary models. Experimental results demonstrate that RoboFAC achieves a 34.1% higher failure analysis accuracy compared to GPT-4o. Furthermore, we integrated RoboFAC as an external supervisor in a real-world VLA control pipeline, yielding a 29.1% relative improvement across four tasks while significantly reducing latency relative to GPT-4o. These results demonstrate that RoboFAC enables systematic failure diagnosis and recovery, significantly enhancing VLA recovery capabilities. Our model and dataset are publicly available at https://github.com/MINT-SJTU/RoboFAC.

cs.RO↗

arXiv2020

CFR-RL: Traffic Engineering with Reinforcement Learning in SDN

Traditional Traffic Engineering (TE) solutions can achieve the optimal or near-optimal performance by rerouting as many flows as possible. However, they do not usually consider the negative impact, such as packet out of order, when frequently rerouting flows in the network. To mitigate the impact of network disturbance, one promising TE solution is forwarding the majority of traffic flows using Equal-Cost Multi-Path (ECMP) and selectively rerouting a few critical flows using Software-Defined Networking (SDN) to balance link utilization of the network. However, critical flow rerouting is not trivial because the solution space for critical flow selection is enormous. Moreover, it is impossible to design a heuristic algorithm for this problem based on fixed and simple rules, since rule-based heuristics are unable to adapt to the changes of the traffic matrix and network dynamics. In this paper, we propose CFR-RL (Critical Flow Rerouting-Reinforcement Learning), a Reinforcement Learning-based scheme that learns a policy to select critical flows for each given traffic matrix automatically. CFR-RL then reroutes these selected critical flows to balance link utilization of the network by formulating and solving a simple Linear Programming (LP) problem. Extensive evaluations show that CFR-RL achieves near-optimal performance by rerouting only 10%-21.3% of total traffic.

cs.NI↗