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cs.AI updates on arXiv.org

Policy Split: Incentivizing Dual-Mode Exploration in LLM Reinforcement with Dual-Mode Entropy Regularization METER: Evaluating Multi-Level Contextual Causal Reasoning in Large Language Models Think Before you Write: QA-Guided Reasoning for Character Descriptions in Books METRO: Towards Strategy Induction from Expert Dialogue Transcripts for Non-collaborative Dialogues Retrieval as Generation: A Unified Framework with Self-Triggered Information Planning Do LLMs Know Tool Irrelevance? Demystifying Structural Alignment Bias in Tool Invocations Enhancing Multimodal Large Language Models for Ancient Chinese Character Evolution Analysis via Glyph-Driven Fine-Tuning Exploring Knowledge Conflicts for Faithful LLM Reasoning: Benchmark and Method CocoaBench: Evaluating Unified Digital Agents in the Wild MathAgent: Adversarial Evolution of Constraint Graphs for Mathematical Reasoning Data Synthesis Efficient Training for Cross-lingual Speech Language Models Shared Emotion Geometry Across Small Language Models: A Cross-Architecture Study of Representation, Behavior, and Methodological Confounds A Systematic Analysis of the Impact of Persona Steering on LLM Capabilities Uncertainty-Aware Web-Conditioned Scientific Fact-Checking When Valid Signals Fail: Regime Boundaries Between LLM Features and RL Trading Policies When Verification Fails: How Compositionally Infeasible Claims Escape Rejection Mem$^2$Evolve: Towards Self-Evolving Agents via Co-Evolutionary Capability Expansion and Experience Distillation AOP-Smart: A RAG-Enhanced Large Language Model Framework for Adverse Outcome Pathway Analysis Advancing Polish Language Modeling through Tokenizer Optimization in the Bielik v3 7B and 11B Series TInR: Exploring Tool-Internalized Reasoning in Large Language Models Do BERT Embeddings Encode Narrative Dimensions? A Token-Level Probing Analysis of Time, Space, Causality, and Character in Fiction Generating Multiple-Choice Knowledge Questions with Interpretable Difficulty Estimation using Knowledge Graphs and Large Language Models Deep-Reporter: Deep Research for Grounded Multimodal Long-Form Generation Too Nice to Tell the Truth: Quantifying Agreeableness-Driven Sycophancy in Role-Playing Language Models Learning and Enforcing Context-Sensitive Control for LLMs Efficient Process Reward Modeling via Contrastive Mutual Information Computational Lesions in Multilingual Language Models Separate Shared and Language-specific Brain Alignment Bridging Linguistic Gaps: Cross-Lingual Mapping in Pre-Training and Dataset for Enhanced Multilingual LLM Performance Early Decisions Matter: Proximity Bias and Initial Trajectory Shaping in Non-Autoregressive Diffusion Language Models LLMs Should Incorporate Explicit Mechanisms for Human Empathy
REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco...
Zhaoyuan Gu, Yipu Chen, Zimeng Chai, Alfred Cueva, Thong Nguyen, · 2026-03-14 · via cs.AI updates on arXiv.org

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning from demonstrations, deploying them on humanoids poses critical challenges: the motion planner trained offline is decoupled from the low-level controller, leading to poor command tracking, compounding distribution shift, and task failures. The common approach of scaling demonstration data is prohibitively expensive for high-dimensional humanoid systems. To address this challenge, we present REFINE-DP (REinforcement learning FINE-tuning of Diffusion Policy), a hierarchical framework that jointly optimizes a DP high-level planner and an RL-based low-level loco-manipulation controller. The DP is fine-tuned via a PPO-based diffusion policy gradient to improve task success rate, while the controller is simultaneously updated to accurately track the planner's evolving command distribution, reducing the distributional mismatch that degrades motion quality. We validate REFINE-DP on a humanoid robot performing loco-manipulation tasks, including door traversal and long-horizon object transport. REFINE-DP achieves an over $90\%$ success rate in simulation, even in out-of-distribution cases not seen in the pre-trained data, and enables smooth autonomous task execution in real-world dynamic environments. Our proposed method substantially outperforms pre-trained DP baselines and demonstrates that RL fine-tuning is key to reliable humanoid loco-manipulation. https://refine-dp.github.io/REFINE-DP/