Liang He | Search arXiv

arXiv2026

SleepWalking: Privileged Representation Shaping for End-to-End Blind Locomotion in Legged Robots

Partially observable locomotion requires a policy to act when task-relevant properties of the robot--environment state are not fully specified by instantaneous observations. Existing approaches often address this challenge by explicitly estimating missing physical variables or processing extended observation histories through structured architectures. We take a different view: partial observability is fundamentally an information-retention problem. The decisive question is not how task-relevant information enters the network, but whether the policy's internal state retains it. Guided by this perspective, we propose SleepWalking for Robot Locomotion (SWAQ), a one-stage end-to-end framework that uses next-step privileged physical reconstruction to shape what a recurrent history representation retains during policy learning, while the deployed actor uses only a direct history-to-action pathway. Under aligned training settings, SWAQ achieves a 15.0\% higher peak mean terrain level than DWAQ, the strongest non-exteroceptive baseline, while using 44.4\% fewer inference MACs per control step. Layerwise probes further show that information associated with the reconstructed physical variables remains linearly decodable through the policy head up to the layer preceding the action output. Complementary theoretical analysis relates privileged-variable recoverability to the achievable-return gap between history-based and privileged-information policy classes. These results suggest that semantic objectives can structure learning without requiring a corresponding architectural decomposition of the deployed controller.

cs.RO↗

arXiv2026

Evaluating the Performance of Large Language Models on GAOKAO Benchmark

Large Language Models(LLMs) have demonstrated remarkable performance across various natural language processing tasks; however, how to comprehensively and accurately assess their performance becomes an urgent issue to be addressed. This paper introduces GAOKAO-Bench, an intuitive benchmark that employs questions from the Chinese GAOKAO examination as test samples, including both subjective and objective questions. To align with human examination methods, we design a method based on zero-shot settings to evaluate the performance of LLMs. With human evaluation, we obtain the converted total score of LLMs, including GPT-4, ChatGPT and ERNIE-Bot.Our findings reveal that LLMs have achieved competitive scores in Chinese GAOKAO examination, while they exhibit significant performance disparities across various subjects. We also use LLMs to grade the subjective questions, and find that model scores achieve a moderate level of consistency with human scores. In conclusion, this research contributes a robust evaluation benchmark for future large language models and offers valuable insights into the advantages and limitations of such models.

cs.CL↗