arXiv subjects

Ruoyi Qiao

Publications and source records attributed to Ruoyi Qiao.

3 recordsLinked to original sources

arXiv2026

Understanding, Detecting, and Repairing Real-World In-Context-Learning-Based Text-to-SQL Errors

Large language models (LLMs) have been adopted for text-to-SQL tasks, utilizing their in-context learning (ICL) capability to translate natural language questions into SQL queries. However, such a technique faces correctness problems. In this paper, we conduct the first comprehensive study of text-to-SQL errors of ICL-based techniques. Our study covers four representative ICL-based techniques, five basic repairing methods, two benchmarks, and two LLM settings. We find that text-to-SQL errors are widespread and summarize 27 error types of 7 categories. We also find that existing repairing attempts have limited correctness improvement while having high computational overhead and many mis-repairs. Based on these findings, we propose MapleDoctor, a novel text-to-SQL error detection and repairing framework. The evaluation demonstrates that MapleDoctor outperforms existing solutions by repairing 13.8% more queries with a negligible number of mis-repairs and reducing 67.4% repair latency. The artifact is publicly available at GitHub.

cs.CL↗

arXiv2026

ContactExplorer: Contact Coverage-Guided Exploration for General-Purpose Dexterous Manipulation

Reinforcement learning has achieved remarkable success in domains such as Atari games, navigation, and locomotion, where exploration can often be guided by novelty over states or dynamics. In contrast, dexterous manipulation requires rich physical hand--object interactions, but existing methods often suffer from unstable contact-based novelty signals, inefficient distance novelty signals, or reliance on task-specific priors. We propose ContactExplorer, a general exploration method for dexterous manipulation tasks. ContactExplorer represents contact as the intersection between object surface points and hand keypoints, encouraging dexterous hands to discover diverse and novel contact patterns, namely which fingers contact which object regions. It maintains a contact counter conditioned on discretized object states obtained via learned hash codes, capturing how frequently each finger interacts with different object regions. This counter is leveraged in two complementary ways: (1) to assign a count-based contact coverage reward that promotes exploration of novel contact patterns, and (2) an energy-based reaching reward that guides the agent toward under-explored contact regions. We evaluate ContactExplorer on a diverse set of dexterous manipulation tasks. Experimental results show that ContactExplorer substantially improves sample efficiency and success rates over existing exploration methods, and that the contact patterns learned with ContactExplorer transfer robustly to the real world. Project page is https://contact-explorer.github.io.

cs.RO↗

arXiv2026

Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data

Humanoid robots are envisioned to perform a wide range of tasks in human-centered environments, requiring controllers that combine agility with robust balance. Recent advances in locomotion and whole-body tracking have enabled impressive progress in either agile dynamic skills or stability-critical behaviors, but existing methods remain specialized, focusing on one capability while compromising the other. In this work, we introduce AMS (Agility Meets Stability), the first framework that unifies both dynamic motion tracking and extreme balance maintenance in a single policy. Our key insight is to leverage heterogeneous data sources: human motion capture datasets that provide rich, agile behaviors, and physically constrained synthetic balance motions that capture stability configurations. To reconcile the divergent optimization goals of agility and stability, we design a hybrid reward scheme that applies general tracking objectives across all data while injecting balance-specific priors only into synthetic motions. Further, an adaptive learning strategy with performance-driven sampling and motion-specific reward shaping enables efficient training across diverse motion distributions. We validate AMS extensively in simulation and on a real Unitree G1 humanoid. Experiments demonstrate that a single policy can execute agile skills such as dancing and running, while also performing zero-shot extreme balance motions like Ip Man's Squat, highlighting AMS as a versatile control paradigm for future humanoid applications.

cs.RO↗