Yunho Choi

Minjae Oh, Yunho Choi, Dongmin Choi et al.

Preference learning methods such as Direct Preference Optimization (DPO) have become standard for Large Language Model (LLM) post-training, yet they are often ineffective for mathematical reasoning. A key challenge is the large token overlap between preferred and dispreferred trajectories; lowering the probability of dispreferred trajectories also reduces the probability of shared useful tokens, leading to over-penalization and overall performance collapse. As a mitigation, existing algorithms include the probability of a trajectory under the current policy as a regularization term, which decreases the effect of the gradient when the probability is low. However, by the time this effect takes hold, useful tokens may have already been over-penalized as the model has begun to degrade. To address this, we propose Future Policy Aware (FPA) preference learning, which replaces the current policy with a future policy in the regularization term. This future policy is estimated via lightweight, logit-space extrapolation from a reference model toward the current model. FPA enables safer training by preemptively regularizing potentially problematic gradients. We apply FPA to DPO, RPO, and SimPER and evaluate them on the MATH and GSM8K benchmarks. FPA yields consistent performance gains, with the largest improvements observed with SimPER, achieving gains of up to 5.75%. We demonstrate that FPA provides proactive regularization while preserving the probability of shared, useful mathematical tokens, and enables longer, degradation-free training with negligible computational overhead. We will release our code publicly upon publication.

Minjae Oh, Sangjun Song, Gyubin Choi et al.

On-Policy Distillation (OPD) has emerged as a dominant post-training paradigm for large language models, especially for reasoning domains. However, OPD remains unstable in practice due to the high gradient variance of its single-sample Monte Carlo estimator, and recipes for stable training are still immature. We propose vOPD (On-Policy Distillation with a control variate baseline), which casts OPD as policy-gradient RL and stabilizes it by introducing a control variate baseline-canonically a value function -- from the RL literature. We show that the OPD value function admits a closed form as the per-token negative reverse KL divergence between the student and the teacher, available directly from the already-computed forward pass with no additional critic or inference. Existing stabilization methods either compute the full token-level reverse KL over the entire vocabulary, adding significant overhead, or restrict it to a top-k support, biasing the objective. vOPD instead preserves the lightweight single-sample estimator, subtracting the value function as a detached baseline to keep the gradient unbiased while reducing variance. Furthermore, we show that a top-k approximation of the baseline further lowers cost without compromising performance. Across mathematical and scientific reasoning benchmarks, vOPD consistently outperforms vanilla OPD and matches the most expensive full-vocabulary baseline, offering an efficient stabilization of On-Policy Distillation through principled RL variance reduction.

Yunho Choi, Jongwon Lim, Woojin Ahn et al.

Reinforcement learning with verifiable rewards (RLVR) for Large Reasoning Models hinges on baseline estimation for variance reduction, but existing approaches pay a heavy price: PPO requires a policy-model scale critic, while GRPO needs multiple rollouts per prompt to keep its empirical group mean stable. We introduce Policy Optimization with Internal State Value Estimation), which obtains a baseline at negligible cost by using the policy model's internal signals already computed during the policy forward pass. A lightweight probe predicts the expected verifiable reward from the hidden states of the prompt and generated trajectory, as well as token-entropy statistics, and is trained online alongside the policy. To preserve gradient unbiasedness despite using trajectory-conditioned features, we introduce a cross-rollout construction that predicts each rollout's value from an independent rollout's internal states. Because POISE estimates prompt value using only a single rollout, it enables higher prompt diversity for a fixed compute budget during training. This reduces gradient variance for more stable learning and also eliminates the compute overhead of sampling costs for detecting zero-advantage prompts. On Qwen3-4B and DeepSeek-R1-Distill-Qwen-1.5B across math reasoning benchmarks, POISE matches DAPO while requiring less compute. Moreover, its value estimator shows similar performance to a separate LLM-scale value model and generalizes to various verifiable tasks. By leveraging the model's own internal representations, POISE enables more stable and efficient policy optimization.

Hyemin Ahn, Timothy Ha, Yunho Choi et al.

In this paper, we propose a generative model which learns the relationship between language and human action in order to generate a human action sequence given a sentence describing human behavior. The proposed generative model is a generative adversarial network (GAN), which is based on the sequence to sequence (SEQ2SEQ) model. Using the proposed generative network, we can synthesize various actions for a robot or a virtual agent using a text encoder recurrent neural network (RNN) and an action decoder RNN. The proposed generative network is trained from 29,770 pairs of actions and sentence annotations extracted from MSR-Video-to-Text (MSR-VTT), a large-scale video dataset. We demonstrate that the network can generate human-like actions which can be transferred to a Baxter robot, such that the robot performs an action based on a provided sentence. Results show that the proposed generative network correctly models the relationship between language and action and can generate a diverse set of actions from the same sentence.