Related papers: RLingua: Improving Reinforcement Learning Sample E…

With the rapid evolution of large language models (LLM), reinforcement learning (RL) has emerged as a pivotal technique for code generation and optimization in various domains. This paper presents a systematic survey of the application of…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…

Small Language Models (SLMs) are a cost-effective alternative to Large Language Models (LLMs), but often struggle with complex reasoning due to their limited capacity and a tendency to produce mistakes or inconsistent answers during…

Aligning large language models (LLMs) with human values is a vital task for LLM practitioners. Current alignment techniques have several limitations: (1) requiring a large amount of annotated data; (2) demanding heavy human involvement; (3)…

Reinforcement Learning (RL) has emerged as an efficient method of choice for solving complex sequential decision making problems in automatic control, computer science, economics, and biology. In this paper we present a model-free RL…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

Designing effective reward functions is crucial to training reinforcement learning (RL) algorithms. However, this design is non-trivial, even for domain experts, due to the subjective nature of certain tasks that are hard to quantify…

Reinforcement learning (RL) algorithms typically start tabula rasa, without any prior knowledge of the environment, and without any prior skills. This however often leads to low sample efficiency, requiring a large amount of interaction…

Large Language Models (LLMs) exhibit emerging in-context learning abilities through prompt engineering. The recent progress in large-scale generative models has further expanded their use in real-world language applications. However, the…

Large Language Models (LLMs) and pre-trained Language Models (LMs) have achieved impressive success on many software engineering tasks (e.g., code completion and code generation). By leveraging huge existing code corpora (e.g., GitHub),…

One of the fundamental challenges in reinforcement learning (RL) is to take a complex task and be able to decompose it to subtasks that are simpler for the RL agent to learn. In this paper, we report on our work that would identify subtasks…

Large Vision-Language Action (VLA) models have shown significant potential for embodied AI. However, their predominant training via supervised fine-tuning (SFT) limits generalization due to susceptibility to compounding errors under…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Large language models (LLMs) achieve remarkable advancements by leveraging tools to interact with environments, a critical step toward generalized AI. However, the standard supervised fine-tuning (SFT) approach, which relies on large-scale…

Deep Reinforcement Learning (RL) is remarkably effective in addressing sequential resource allocation problems in domains such as healthcare, public policy, and resource management. However, deep RL policies often lack transparency and…

Reinforcement Learning (RL) has traditionally focused on training specialized agents to optimize predefined reward functions within narrowly defined environments. However, the advent of powerful Large Language Models (LLMs) and increasingly…

Reinforcement learning exhibits potential in enhancing the reasoning abilities of large language models, yet it is hard to scale for the low sample efficiency during the rollout phase. Existing methods attempt to improve efficiency by…

Recent SOTA approaches for embodied learning via interaction directly employ large language models (LLMs) as agents to determine the next steps in an environment. Due to their world knowledge and reasoning capabilities, LLM agents achieve…