arXiv subjects

Ting Huang

Publications and source records attributed to Ting Huang.

2 recordsLinked to original sources

arXiv2026

MobileVLA-R1 2.0: RL-Enhanced Reasoning for Mobile Robot Control

Grounding natural-language instructions into reliable and executable actions remains a fundamental challenge for vision-language-action (VLA) systems on mobile robots, due to the persistent gap between high-level semantic reasoning and low-level locomotion and manipulation control. Existing approaches often rely on implicit reasoning or monolithic action prediction, making it difficult to maintain coherent long-horizon decision making while producing precise and adaptable robot actions. To address this challenge, we propose MobileVLA-R1 2.0, an RL-enhanced VLA framework that explicitly couples structured embodied reasoning with executable mobile robot control. The framework learns multi-granularity reasoning over embodied trajectories through supervised Chain-of-Thought (CoT) alignment and reinforcement learning, improving reasoning-to-action consistency beyond purely behavioral supervision. To support both locomotion and manipulation, we further introduce a reasoning-conditioned action decoder that maps multimodal reasoning representations to task-level action targets, which are subsequently translated into embodiment-specific commands by robot controllers. This design provides a unified perception-reasoning-action interface while decoupling high-level action generation from robot-specific actuation. We conduct extensive evaluations on language-guided navigation, quadruped control, and humanoid mobile manipulation, covering VLN-CE, QUARD, and real-world deployments on Unitree Go2 and G1 robots. MobileVLA-R1 2.0 consistently outperforms strong VLA baselines, achieving an average 1.6 point improvement in SR on VLN-CE and a 10.0 point improvement in full-task success on real-world G1 mobile manipulation tasks over MobileVLA-R1, while demonstrating robust long-horizon instruction following and closed-loop execution across different robotic platforms.

cs.CV↗

arXiv2026

REER-PT: Reverse-Engineered Reasoning for Perplexity-Guided Pre-training Data Augmentation

As language-model compute continues to scale, high-quality training data is becoming an increasingly important bottleneck. Conventional next-token prediction supervises what follows a context but leaves the intermediate reasoning behind that continuation implicit. We introduce \textbf{REER-PT}, a scalable framework that extends Reverse-Engineered Reasoning (REER) to raw pre-training data. REER-PT identifies continuations that are difficult to predict but can still be inferred from the preceding context, and inserts concise reasoning annotations that reconstruct the missing connection between context and continuation. Candidate annotations are generated and refined offline, with perplexity serving as the optimization signal. Constraints on length and target leakage filter out unhelpful or trivial annotations. This sparse transformation preserves the source text and remains compatible with standard next-token prediction, avoiding online reasoning rollouts during pre-training. We apply REER-PT to transform a source pre-training corpus into an augmented one. Across augmented-data, original-token, and selected-continuation comparisons, perplexity reductions range from 0.42 to 7.29, and only about 0.05\% of annotation 13-grams appear verbatim in the source text. We then train two 680M-parameter models with the same architecture and training configuration on the source and augmented corpora, respectively. The augmented-data model gains up to 2.07 percentage points on several knowledge and reasoning benchmarks. Together, the perplexity analysis indicates improved continuation predictability, while the controlled pre-training experiments suggest that this augmentation can improve model performance without changing the standard pre-training objective.

cs.CL↗