Authors

Ziyang Ding

Publications 2

Preprint Open access

UniAfford: Token-Routed Multitask Learning for Generalizable 2D-3D Affordance Perception

Yuhao Liu, Yiming Zhong, Hanqing Wang et al. · 2026

Affordance perception aims to localize actionable regions supporting embodied interaction, yet 2D and 3D affordance grounding have evolved as separate problems, with different task definitions, supervision formats, datasets, and evaluation protocols. This fragmentation limits the learning of transferable object-afforda …

Preprint Open access

Unbiased Top-$k$ Estimation for On-Policy Distillation

Linjian Meng, Siyuan Gan, Yuhan Li et al. · 2026

On-policy distillation (OPD) is becoming an important component of large language model (LLM) post-training for transferring the reasoning capability of a strong teacher LLM to a weaker student LLM. OPD trains the student by minimizing the reverse KL divergence between the teacher and the student via rollouts generated …

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