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Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

Existing robotic foundation policies are trained primarily via large-scale imitation learning. While such models demonstrate strong capabilities, they often struggle with long-horizon tasks due to distribution shift and error accumulation.…

Natural language can offer a concise and human-interpretable means of specifying reinforcement learning (RL) tasks. The ability to extract rewards from a language instruction can enable the development of robotic systems that can learn from…

Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to design effective reward functions. In this paper, we propose…

In recent years, reinforcement learning (RL)-based methods for learning driving policies have gained increasing attention in the autonomous driving community and have achieved remarkable progress in various driving scenarios. However,…

Reinforcement learning (RL) requires either manually specifying a reward function, which is often infeasible, or learning a reward model from a large amount of human feedback, which is often very expensive. We study a more sample-efficient…

In offline reinforcement learning (RL), learning from fixed datasets presents a promising solution for domains where real-time interaction with the environment is expensive or risky. However, designing dense reward signals for offline…

While Vision-Language-Action (VLA) models have seen rapid progress in pretraining, their advancement in Reinforcement Learning (RL) remains hampered by low sample efficiency and sparse rewards in real-world settings. Developing…

Diffusion models have achieved impressive results in generative tasks for text-to-video (T2V) synthesis. However, achieving accurate text alignment in T2V generation remains challenging due to the complex temporal dependencies across…

Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explicitly such as "walking forward with an upright posture," the…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Designing reward functions is a longstanding challenge in reinforcement learning (RL); it requires specialized knowledge or domain data, leading to high costs for development. To address this, we introduce Text2Reward, a data-free framework…

Learning generalizable reward functions is a core challenge in embodied intelligence. Recent work leverages contrastive vision language models (VLMs) to obtain dense, domain-agnostic rewards without human supervision. These methods adapt…

Accurately estimating task progress is critical for embodied agents to plan and execute long-horizon, multi-step tasks. Despite promising advances, existing Vision-Language Models (VLMs) based methods primarily leverage their video…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

This paper presents a training-free pipeline for task-oriented grasp generation that combines pre-trained grasp generation models with vision-language models (VLMs). Unlike traditional approaches that focus solely on stable grasps, our…