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Zhonghao Yan

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2 published item(s)

preprint2026arXiv

Entropy-Adaptive Fine-Tuning: Resolving Confident Conflicts to Mitigate Forgetting

Supervised Fine-Tuning (SFT) is the standard paradigm for domain adaptation, yet it frequently incurs the cost of catastrophic forgetting. In sharp contrast, on-policy Reinforcement Learning (RL) effectively preserves general capabilities. We investigate this discrepancy and identify a fundamental distributional gap: while RL aligns with the model's internal belief, SFT forces the model to fit external supervision. This mismatch often manifests as "Confident Conflicts" tokens characterized by low probability but low entropy. In these instances, the model is highly confident in its own prediction but is forced to learn a divergent ground truth, triggering destructive gradient updates. To address this, we propose Entropy-Adaptive Fine-Tuning (EAFT). Unlike methods relying solely on prediction probability, EAFT utilizes token-level entropy as a gating mechanism to distinguish between epistemic uncertainty and knowledge conflict. This allows the model to learn from uncertain samples while suppressing gradients on conflicting data. Extensive experiments on Qwen and GLM series (ranging from 4B to 32B parameters) across mathematical, medical, and agentic domains confirm our hypothesis. EAFT consistently matches the downstream performance of standard SFT while significantly mitigating the degradation of general capabilities.

preprint2026arXiv

LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoning

Robotic foundation models require reasoning over complex visual scenes to execute adaptive actions in dynamic environments. While recent studies on latent-reasoning Vision-Language-Action (VLA) models have demonstrated the capability to capture fine-grained physical dynamics, they remain predominantly confined to static imitation learning, severely limiting their adaptability and generalization. In this paper, we present LaST-R1, a novel reinforcement learning (RL) post-training framework designed to effectively harness "latent reasoning-before-acting" policies. Specifically, we propose Latent-to-Action Policy Optimization (LAPO), a core RL algorithm that jointly optimizes the latent reasoning process and the action generation. By explicitly embedding latent Chain-of-Thought (CoT) reasoning directly within the RL optimization loop, LAPO stimulates profound physical world modeling, which in turn drives robust execution in interactive environments. Furthermore, an adaptive latent CoT mechanism is introduced, allowing the policy to dynamically modulate its reasoning horizon based on diverse environment states. Experiments show that LaST-R1 achieves a near-perfect 99.9% average success rate on the LIBERO benchmark with only one-shot supervised warm-up, significantly improving convergence speed and performance over prior state-of-the-art (SOTA) methods. In real-world deployments, LaST-R1 yields up to a 22.5% average improvement over SOTA supervised fine-tuning approach across four complex tasks, including both single-arm and dual-arm settings. Finally, LaST-R1 demonstrates strong generalization across simulated and real-world environments.