Papers by Chloe Gu
On-policy Reinforcement Fine-tuning with Offline reward for Multi-step Embodied Planning (2026.acl-long)
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| Challenge: | Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and verbal goals. |
| Approach: | They propose an On-policy Reinforcement fine-tuning framework with offline rewards for Embodied Task Planning that preserves generalization benefits of RFT while addressing costly interaction and sparse rewards. |
| Outcome: | The proposed framework outperforms closed-source and online-RL methods on EmbodiedBench, a recent benchmark for interactive embodied tasks. |