#01Oct 23, 2026
cs.RO
ViT-H: Generative Video-To-Humanoid Control with Motion Tracking Feedback
Zimo He, Tianyi Bian, Zizhong Yang and 7 more
Learning humanoid control from monocular human videos offers a scalable way to acquire diverse whole-body behaviors. Yet, existing reconstruction-retargeting-tracking pipelines are limited in system-level scalability by separately optimized intermediate stages and cannot directly optimize reference motion executability using downstream tracking feedback. We present ViT-H, a video-to-humanoid control framework following a generation-and-tracking paradigm. ViT-H directly generates humanoid reference motions from videos with a diffusion model, bypassing human motion reconstruction and retargeting, and uses motion-tracking outcomes to post-train the generator with direct preference optimization. We further introduce an autoregressive variant that enables real-time humanoid video teleoperation with sub-400 ms latency. Extensive experiments on the Unitree G1 demonstrate that ViT-H outperforms state-of-the-art reconstruction-retargeting-tracking pipelines in both motion quality and executability. We further show that ViT-H scales favorably with model size and with both pre-training and post-training data scale, while motion-tracking feedback consistently improves executability across different motion trackers.
#02Oct 23, 2026
cs.LG
RobustRLlib: A Unified Library and Benchmark for Robust Reinforcement Learning Algorithms
Xi Chen, Fengqi Hu, Zeyu Shen and 5 more
Robust reinforcement learning (RL) is critical for reliable real-world deployment, where policies may fail under diverse shifts and disruptions. Existing robust RL algorithms offer a rich set of mechanisms and principles, yet two major barriers limit their broader potential: limited algorithm reusability and an unclear empirical capability boundary. We introduce RobustRLlib, an algorithm-centric library and benchmark that addresses both challenges. It integrates 17 representative robust online, offline, and safe RL algorithms under a unified interface for substantially improved reusability, together with an enhanced evaluation platform spanning diverse real-world shifts and advanced humanoid and vision-language-action tasks. Systematic evaluation over 273 perturbation configurations provides an up-to-date capability map of current robust RL algorithms, revealing where they remain effective and where substantial robustness gaps persist. As an open-source, user-friendly platform, RobustRLlib offers a reproducible and extensible codebase for applying existing methods to new problems and developing new robust RL algorithms.
#03Oct 23, 2026
cs.AI
NgramRL: Accelerating RL Post-Training for Structured Generation via Rollout-Aware N-gram Speculative Decoding
Nilesh Prasad Pandey, Jangseon Park, Jason Kong and 2 more
Reinforcement learning (RL) post-training improves the reasoning capabilities of large language models, but its cost is dominated by autoregressive rollout generation, which can exceed 70% of training time. Existing speculative-decoding methods are poorly suited to this setting: model-based drafters consume scarce GPU memory and may become misaligned as the policy evolves, while existing model-free methods do not explicitly exploit repetition across training epochs. We observe that recent rollouts of the same prompt provide a high-quality, self-updating draft source. Based on this insight, we propose NgramRL, a per-prompt n-gram drafter constructed from bounded recent rollout history. NgramRL requires no auxiliary model, drafter training, or persistent GPU-resident drafter state, while target-model verification preserves the rollout distribution. To hide CPU cache lookup and scheduling, we further introduce an adaptive fan-out prefetcher that predicts likely verification outcomes (j, b), consisting of the accepted draft length j and target-emitted continuation token b. A causal budget allocator concentrates prefetches on high-probability outcomes, while uncovered outcomes fall back to sequential lookup without changing committed tokens. Across two model families and three reasoning and structured-generation workloads, NgramRL commits 3.60-7.77 tokens per target-model forward in the warm-cache regime, up to 1.99x more than SuffixDecoding and 7.0x more than prompt-lookup decoding. On Spider, the prefetcher covers 96.6% of Qwen3-8B outcomes at a candidate budget of 16 and improves measured rollout throughput by 1.38x over synchronous NgramRL, approaching its 1.40x overlap ceiling.
#04Oct 23, 2026
cs.AI
SemantEq: Faithful Bidirectional Equivalence of Formal Statements
Xinrui Li, Pawan Sasanka Ammanamanchi, Siddharth Bhat and 3 more
Statement autoformalization translates mathematics from natural language into a proof assistant such as Lean 4, and models now do it at scale. As provers get stronger, the burden of correctness shifts from the proof to the statement, that is, to whether the formal statement faithfully translates its source. Given a trusted reference formalization, the natural test is logical equivalence, and it proves too much. $P \leftrightarrow Q$ holds trivially for any two statements $P$ and $Q$ that the library proves, because a prover can prove each separately and pass through $P \leftrightarrow \mathrm{True} \leftrightarrow Q$. The stronger the prover, the more unrelated pairs pass. Earlier methods restrict the prover and check that each proof names the other statement. We introduce SemantEq, a more principled relation that instead requires each statement to turn into the other only through a chain of allowed steps, such as logical rearrangement and rewriting with the library's own equations. Our programs judge a proof by the proof term Lean checks, not by its tactic script. SemantEq-Eval, a search without a model, reaches 100% precision and 65.6% recall on the ProofNetVerif test split under our adjudicated labels, against 95.8% and 61.8% for BEq+, and an 8.9-fold increase in its CPU time adds at most three pairs. A language model finds more proofs, but under two of four prompts it proves both directions of about two in five of the non-equivalent pairs. SemantEq-ProofAudit audits each model-written proof under a policy derived from the relation and accepts none of the 104 non-equivalent pairs, and it raises recall on 407 equivalent pairs from 65.4% to 81.1% under the best prompt. Separating the generation of equivalence proofs from their acceptance lets a stronger prover raise recall without changing what an acceptance means. We release code and data at: https://github.com/hlxr89/SemantEq
#05Oct 23, 2026
cs.LG
A Tutorial on Physics Constrained Machine Learning for Hybrid Modeling, Optimization, and Control
Rahul Golder, Bimol Nath Roy, MM Faruque Hasan
Physics-constrained machine learning (PCML) integrates domain knowledge, first-principles, and physical constraints into AI/ML models. In this work, we present a step-by-step tutorial of a modular PCML framework, KKT-HardNet, and illustrate how it could be used for hybrid modeling, process simulation, optimization and model predictive control in a single platform. KKT-HardNet combines fast inference capabilities of neural networks with guaranteed satisfaction of algebraic constraints through differential projection. It can handle heterogeneous data and enforce both linear and nonlinear equality and inequality constraints. The modular design supports custom neural-network backbones and user-defined projection mechanisms for PCML. To enable efficient end-to-end training, KKT-HardNet exploits implicit function theorem to backpropagate through the projection layer. This avoids computationally expensive automatic differentiation. This work also introduces an exact reduced-order Fischer-Burmeister reformulation and a primal-dual interior-point method as an alternative projection solve strategy. We also provide a diverse set of benchmarking problems for PCML in engineering applications. KKT-HardNet achieves orders of magnitude better performance in terms of both constraint satisfaction and inference time. The KKT-HardNet code and the benchmark datasets are available at https://github.com/souls-tamu/kkt-hardnet .