Rui Yang
Publications
VLA-Pro: Cross-Task Procedural Memory Transfer for Vision-Language-Action Models
Vision-Language-Action~(VLA) models have shown strong potential for general-purpose robotic manipulation, yet they still struggle to generalize to unseen tasks that necessitate transferring relevant experience across objects, scenes, and action patterns. This paper proposes VLA-Pro, a plug-and-play framework designed to enhance cross-task generalization by storing task-relevant procedural memories at training time and transferring these memories during inference. Specifically, VLA-Pro stores task-specific LoRA adapters as parameterized procedural memories during training. At inference time, VLA-Pro retrieves relevant procedural memories based on the current multi-modal context and dynamically fuses these memories for generating the current action chunk. Experiments on RoboTwin, RLBench, and real-world manipulation tasks show that VLA-Pro consistently improves cross-task generalization across multiple backbones, achieving up to a 207% relative improvement in simulation and increasing real-world success rate from 5.8% to 65.0%. These results suggest that procedural memory retrieval and adaptation provide an effective mechanism for transferring manipulation experience to novel tasks while preserving modularity and execution stability.
LoopFM: Learning frOm HistOrical RePresentations of Foundation Model for Recommendation
Knowledge distillation (KD) transfers a single scalar prediction from a large foundation model (FM) to compact vertical models (VMs), suffering from diminishing transfer ratio -- the fraction of FM improvement captured by the VM -- as a single scalar cannot convey the rich intermediate knowledge that larger FMs learn. To address this bottleneck, we propose LoopFM (Learning frOm HistOrical ReP*resentations of FM), a framework that opens a high-bandwidth transfer channel by structuring FM intermediate embeddings as input features (e.g., user history sequence) for downstream VMs, without requiring real-time FM inference at serving and architectural coupling between FM and VM. We provide a theoretical framework for LoopFM with a gain decomposition and transfer-ratio analysis. On three public benchmarks, LoopFM demonstrates strong AUC improvements (e.g., 6\%+ on TaobaoAd) and complementary knowledge transfer capability with KD. On industrial-scale systems (billions of examples, trillion-parameter FMs), LoopFM approximately doubles the knowledge transfer ratio on top of KD, delivering a +0.5\% conversion improvement in Y1H1, and a +1.03\% and +1.22\% conversion improvement from two individual launches respectively in Y1H2.