Topic · Evaluation & benchmarks
arxiv arXiv cs.LG · 10d ago

HABC Improves RL Fine-Tuning of VLAs with Sparse Outcomes

Hierarchical Advantage-Weighted Behavior Cloning (HABC) enhances online RL fine-tuning of vision-language agents by using separate critic heads for viability and efficiency. It combines their outputs via a state-adaptive gate and applies per-transition weights, while intervention-aware credit assignment prevents supervision leakage. In real-robot experiments, HABC boosts success rates to 92%, 88%, and 38% on three bimanual tasks, surpassing SFT baselines of 36%, 44%, and 12%.

arxiv arXiv cs.LG · 10d ago

Filtered Conformal Ellipsoids for Graph-Native Time Series

A new method called filtered conformal ellipsoids provides prediction sets for multivariate time series by using a frozen state-space filter to generate predictive means and covariances, then applying split-conformal calibration to Mahalanobis scores. The approach achieves coverage under dependence through contraction in an observable predictive-law quotient, with theoretical bounds derived under Gaussian-projection and observability conditions, and shows sharper ellipsoids on graph-native traffic benchmarks compared to static and non-filter baselines.