Jaehyung Kim
Publications
SyRuP: Enhancing System-Prompt Following via Reward-Guided Prediction in LLM Decoding
Large Language Models (LLMs) are increasingly controlled through system prompts that specify roles, styles, formats, and safety requirements. However, models follow these prompts only implicitly through in-context learning, which can be insufficient for complex or compositional prompts. Existing approaches often require model tuning or response-level reranking, limiting their practicality for lightweight inference-time control. We introduce SyRuP, a decoding-time framework for improving system-prompt adherence while keeping the base LM frozen. SyRuP trains a cross-attention reward head from system-prompt-conditioned preference pairs, treating the system prompt as a separate memory to produce token-level adherence scores. At inference, SyRuP reranks the base LM's top-k candidates by combining base logits with the learned reward signal and an optional contrastive signal capturing system-induced logit shifts. Experiments on system-prompt following benchmarks show that SyRuP consistently outperforms prompting and decoding-time baselines with moderate inference overhead. These results suggest that explicit token-level guidance is an effective and practical mechanism for reliable system-prompt following.
RoboAlign: Learning Test-Time Reasoning for Language-Action Alignment in Vision-Language-Action Models
Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent work has explored enhancing embodied reasoning in MLLMs through supervision of vision-question-answering type. However, these approaches have been reported to result in unstable VLA performance, often yielding only marginal or even negative gains. In this paper, we propose a more systematic MLLM training framework RoboAlign that reliably improves VLA performance. Our key idea is to sample action tokens via zero-shot natural language reasoning and refines this reasoning using reinforcement learning (RL) to improve action accuracy. As a result, RoboAlign bridges the modality gap between language and low-level actions in MLLMs, and facilitate knowledge transfer from MLLM to VLA. To validate the effectiveness of RoboAlign, we train VLAs by adding a diffusion-based action head on top of an MLLM backbone and evaluate them on major robotics benchmarks. Remarkably, by performing RL-based alignment after SFT using less than 1\% of the data, RoboAlign achieves performance improvements of 17.5\%, 18.9\%, and 106.6\% over SFT baselines on LIBERO, CALVIN, and real-world environments, respectively.