Xuanfa Jin

Xinyu Cui, Xuanfa Jin, Xue Yan et al.

Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental uncertainties. Existing methods often fail in practical deployment due to a substantial sim-to-real gap, which stems from imprecise simulation, inadequate situational awareness, and unsafe exploration strategies. To address these, we propose \textbf{Sim2Sea}, a comprehensive framework designed to bridge simulation and real-world execution. Sim2Sea advances in three key aspects. First, we develop a GPU-accelerated parallel simulator for scalable and accurate maritime scenario simulation. Second, we design a dual-stream spatiotemporal policy that handles complex dynamics and multi-modal perception, augmented with a velocity-obstacle-guided action masking mechanism to ensure safe and efficient exploration. Finally, a targeted domain randomization scheme helps bridge the sim-to-real gap. Simulation results demonstrate that our method achieves faster convergence and safer trajectories than established baselines. In addition, our policy trained purely in simulation successfully transfers zero-shot to a 17-ton unmanned vessel operating in real-world congested waters. These results validate the effectiveness of Sim2Sea in achieving reliable sim-to-real transfer for practical autonomous maritime navigation.

Yongcheng Zeng, Xinyu Cui, Xuanfa Jin et al.

Self-Refinement refers to a model's ability to revise its own responses to produce improved outputs. This capability can also serve as a fundamental mechanism for Self-Improvement, for example, by reconstructing datasets with refined results to enhance intrinsic model performance. However, our comprehensive experiments reveal that large language models (LLMs) show no clear evidence of inherent Self-Refinement and may even experience response quality degradation after Self-Refinement. To address this issue, we propose EVOLVE, a simple and effective framework for eliciting and tracking the evolution of Self-Refinement through iterative training. We first explore optimization methods during training to activate the model's Self-Refinement capability. Then, at inference, we investigate various generation strategies to further enhance and utilize Self-Refinement while supplying the necessary data for training. Through synergistic optimization of training and inference stages, we continually evolve the model's Self-Refinement ability, enabling it to better refine its own responses. Moreover, we demonstrate the potential of leveraging Self-Refinement to achieve broader Self-Improvement of intrinsic model abilities. Experiments show that the evolved Self-Refinement ability enables the Llama-3.1-8B base model to surpass GPT-4o, achieving 62.3% length-controlled and 63.3% raw win rates on AlpacaEval 2, and 50.3% on Arena-Hard. It also generalizes effectively to out-of-domain reasoning tasks, improving performance on mathematical reasoning benchmarks such as GSM8K and MATH.