Zhi Su

Yunfei Li, Xiao Ma, Jiafeng Xu et al.

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to existing VLA policies. However, we claim that in highly dexterous and precise manipulation tasks, human demonstrations are noisy and suboptimal. GR-RL proposes a multi-stage training pipeline that filters, augments, and reinforces the demonstrations by reinforcement learning. First, GR-RL learns a vision-language-conditioned task progress, filters the demonstration trajectories, and only keeps the transitions that contribute positively to the progress. Specifically, we show that by directly applying offline RL with sparse reward, the resulting $Q$-values can be treated as a robust progress function. Next, we introduce morphological symmetry augmentation that greatly improves the generalization and performance of GR-RL. Lastly, to better align the VLA policy with its deployment behaviors for high-precision control, we perform online RL by learning a latent space noise predictor. With this pipeline, GR-RL is, to our knowledge, the first learning-based policy that can autonomously lace up a shoe by threading shoelaces through multiple eyelets with an 83.3% success rate, a task requiring long-horizon reasoning, millimeter-level precision, and compliant soft-body interaction. We hope GR-RL provides a step toward enabling generalist robot foundations models to specialize into reliable real-world experts.

Zhi Su, Yuman Gao, Emily Lukas et al. · bytedance

Achieving coordinated teamwork among legged robots requires both fine-grained locomotion control and long-horizon strategic decision-making. Robot soccer offers a compelling testbed for this challenge, combining dynamic, competitive, and multi-agent interactions. In this work, we present a hierarchical multi-agent reinforcement learning (MARL) framework that enables fully autonomous and decentralized quadruped robot soccer. First, a set of highly dynamic low-level skills is trained for legged locomotion and ball manipulation, such as walking, dribbling, and kicking. On top of these, a high-level strategic planning policy is trained with Multi-Agent Proximal Policy Optimization (MAPPO) via Fictitious Self-Play (FSP). This learning framework allows agents to adapt to diverse opponent strategies and gives rise to sophisticated team behaviors, including coordinated passing, interception, and dynamic role allocation. With an extensive ablation study, the proposed learning method shows significant advantages in the cooperative and competitive multi-agent soccer game. We deploy the learned policies to real quadruped robots relying solely on onboard proprioception and decentralized localization, with the resulting system supporting autonomous robot-robot and robot-human soccer matches on indoor and outdoor soccer courts.

Lu Han, Mengyan Li, Jiping Qiang et al.

Heterogeneous data, which encompass both numerical financial variables and textual records, present substantial challenges for credit monitoring. To address this issue, we propose Advanced Spectral Clustering (ASC), a method that integrates financial and textual similarities through an optimized weight parameter and selects eigenvectors using a novel eigenvalue-silhouette optimization approach. Evaluated on a dataset comprising 1,428 small and medium-sized enterprises (SMEs), ASC achieves a Silhouette score that is 18% higher than that of a single-type data baseline method. Furthermore, the resulting clusters offer actionable insights; for instance, 51% of low-risk firms are found to include the term 'social recruitment' in their textual records. The robustness of ASC is confirmed across multiple clustering algorithms, including k-means, k-medians, and k-medoids, with ΔIntra/Inter < 0.13 and ΔSilhouette Coefficient < 0.02. By bridging spectral clustering theory with heterogeneous data applications, ASC enables the identification of meaningful clusters, such as recruitment-focused SMEs exhibiting a 30% lower default risk, thereby supporting more targeted and effective credit interventions.