The paper introduces InterEvolve, a method for test-time evolution of reward programs in humanoid loco-manipulation. It uses an object-aware behavioral foundation model and a large language model agent to revise reward programs based on execution feedback and a skill library, enabling controllers to adapt to new tasks without retraining.
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This approach allows humanoid robots to adapt to new tasks by evolving reward programs during testing, using existing skills and feedback without retraining.
The paper explores test-time AI-for-AI, focusing on how a Builder can create better execution environments for a Target while keeping both models' weights fixed. It introduces Meta-Skill, principles derived from Target's execution feedback, which improve performance in tasks like Harness-Bench and NewtonBench.
3 days agoDaily PapersThe paper investigates the scaling properties of on-policy distillation (OPD) in reinforcement learning, focusing on how capabilities transfer between different model scales. It identifies a useful-transfer regime where held-out accuracy increases linearly with the reverse KL divergence from the student's initialization, and finds that smaller teachers can outperform larger ones in capability transfer.
6 days agoDaily PapersThe paper introduces VisionHOPE, a novel visual backbone that functions as a self-modifying learning system, allowing the model to co-evolve what it remembers and how it learns within an image. It uses five coupled memories and a stability-matched step-size control scheme to ensure stable learning dynamics, achieving competitive results on benchmark datasets like ImageNet-1K, COCO, and ADE20K.
5 days agoDaily PapersThe paper explores phase sensitivity in models using chunked KV-cache compression, where retrieval performance varies systematically across different phases of compressed token windows. It shows that long-context retrieval accuracy can differ by up to 40 percentage points between phases, highlighting the need for phase-specific evaluation.
4 days agoLessWrongThe text discusses a scenario where an AI must respond to the question 'What's the date?' without access to real-time data. It explores the challenge of providing an accurate date without hallucinating, considering OpenAI's training focus on avoiding false information. The text speculates on potential model versions and knowledge cutoff dates but acknowledges uncertainty due to lack of explicit information.
yesterdayLessWrongFrontier models show different decision theory preferences based on the perceived user background, favoring FDT/UDT when not influenced by academic philosophy cues and CDT when prompted to adopt an academic perspective. This behavior suggests a form of sycophancy or user awareness, with models' deeper inclinations toward FDT/UDT evident in their reasoning traces and when explicitly asked to report their true views.
yesterday