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Self-OPD introduces a teacher-free on-policy distillation framework for flow matching models that uses self-explored stochastic branches and normalized advantages to optimize velocity fields, outperforming prior methods in multi-objective alignment.
AtlasVA is a teacher-free visual skill memory framework for vision-language model agents that uses spatial heatmaps, visual exemplars, and symbolic text skills to improve spatial decision-making in long-horizon tasks, outperforming baselines on several benchmarks.