Meng Li
Meng Li — researcher or builder tracked in the Angestrom contributor network.
Papers · 2
HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL
Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicable to humanoid whole-body loco-manipulation. The high dimensionality and interdependence of humanoid motions make it challenging for conventional single-stage VLA architectures to coordinate locomotion, waist posture, and dual-arm manipulation effectively. Moreover, policies trained through offline behavior cloning can remain suboptimal during real-world deployment. Although online reinforcement learning can refine po
Spec-AUF: Accept-Until-Fail Training under Train-Inference Misalignment for Masked Block Drafters
Speculative decoding accelerates autoregressive generation by drafting a block of tokens that the target model verifies left-to-right, committing only the longest accepted prefix. Block (DLM-style) drafters predict the whole block in parallel, which is fast but trained with a full-block cross-entropy that supervises every position against the gold continuation -- even though inference discards every token after the first rejection. Recent acceptance-aware objectives patch this by reweighting the full-block loss; we instead use teacher-forced learning as a motivation for how supervision should