Related papers: Self-Improving Loops for Visual Robotic Planning

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Reinforcement Learning with Verifiable Rewards (RLVR) has substantially advanced the video understanding capabilities of Multimodal Large Language Models (MLLMs). However, the rapid progress of MLLMs is outpacing the complexity of existing…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

Multimodal large language models (MLLMs) perform well on many vision-language tasks but often struggle with vision-centric problems that require fine-grained visual reasoning. Recent evidence suggests that this limitation arises not from…

Meta-reinforcement learning (Meta-RL) facilitates rapid adaptation to unseen tasks but faces challenges in long-horizon environments. Skill-based approaches tackle this by decomposing state-action sequences into reusable skills and…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Recent single-image super-resolution (SISR) networks, which can adapt their network parameters to specific input images, have shown promising results by exploiting the information available within the input data as well as large external…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

Recent advances in multimodal large language models (MLLMs) have shown impressive reasoning capabilities. However, further enhancing existing MLLMs necessitates high-quality vision-language datasets with carefully curated task complexities,…

Image scoring is a crucial task in numerous real-world applications. To trust a model's judgment, understanding its rationale is essential. This paper proposes a novel training method for Vision Language Models (VLMs) to generate not only…

Self-supervised learning (SSL) has revolutionized visual representation learning, but has not achieved the robustness of human vision. A reason for this could be that SSL does not leverage all the data available to humans during learning.…

Reinforcement Learning (RL) or Deep Reinforcement Learning (DRL) is a powerful approach to solving Markov Decision Processes (MDPs) when the model of the environment is not known a priori. However, RL models are still faced with challenges…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

Recent studies have demonstrated the effectiveness of Large Language Models (LLMs) as reasoning modules that can deconstruct complex tasks into more manageable sub-tasks, particularly when applied to visual reasoning tasks for images. In…

Large Language Models (LLMs) often struggle with problems that require multi-step reasoning. For small-scale open-source models, Reinforcement Learning with Verifiable Rewards (RLVR) fails when correct solutions are rarely sampled even…

Self-improvement is a significant techniques within the realm of large language model (LLM), aiming to enhance the LLM performance without relying on external data. Despite its significance, generally how LLM performances evolve during the…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

To facilitate the wider adoption of robotics, accessible programming tools are required for non-experts. Observational learning enables intuitive human skills transfer through hands-on demonstrations, but relying solely on visual input can…