SAGE: Mitigating Long-Horizon Reasoning Biases via Topological Guidance
SAGE uses structural guidance to cut long-horizon reasoning biases, with up to an 8-fold gain.
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SAGE: Mitigating Long-Horizon Reasoning Biases via Topological Guidance
SAGE uses algebraic and hyperbolic guidance to reduce long-horizon LLM reasoning biases, with up to an 8-fold gain.
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
PARTS fine-tunes pretrained robot policies with RL on targeted bottleneck subtasks, boosting long-horizon manipulation success on YAM and Franka robots with minimal human intervention.