Related papers: Internalizing World Models via Self-Play Finetunin…

The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…

Large language models are increasingly deployed as specialized agents that plan, call tools, and take actions over extended horizons. Yet many existing evaluations assume a "clean interface" where dynamics are specified and stable, tools…

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…

Various world model frameworks are being developed today based on autoregressive frameworks that rely on discrete representations of actions and observations, and these frameworks are succeeding in constructing interactive generative models…

Can we build accurate world models out of large language models (LLMs)? How can world models benefit LLM agents? The gap between the prior knowledge of LLMs and the specified environment's dynamics usually bottlenecks LLMs' performance as…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with demonstrations is constrained by data quality, reinforcement…

Offline reinforcement learning (RL) is a variant of RL where the policy is learned from a previously collected dataset of trajectories and rewards. In our work, we propose a practical approach to offline RL with large language models…

Reinforcement learning (RL) has become the dominant paradigm for improving the performance of language models on complex reasoning tasks. Despite the substantial empirical gains demonstrated by RL-based training methods like GRPO, a…

Agentic reinforcement learning (RL) for Large Language Models (LLMs) critically depends on the exploration capability of the base policy, as training signals emerge only within its in-capability region. For tasks where the base policy…

Post-training Vision-Language-Action (VLA) models via reinforcement learning (RL) in learned world models has emerged as an effective strategy to adapt to new tasks without costly real-world interactions. However, while using imagined…

Reinforcement learning (RL) has achieved remarkable success in fields like robotics and autonomous driving, but adversarial attacks designed to mislead RL systems remain challenging. Existing approaches often rely on modifying the…

In-context learning (ICL) of large language models (LLMs) has attracted increasing attention in the community where LLMs make predictions only based on instructions augmented with a few examples. Existing example selection methods for ICL…

Recent work has shown that augmenting environments with language descriptions improves policy learning. However, for environments with complex language abstractions, learning how to ground language to observations is difficult due to…

Reinforcement learning (RL) algorithms aim to learn optimal decisions in unknown environments through experience of taking actions and observing the rewards gained. In some cases, the environment is not influenced by the actions of the RL…

Reinforcement learning with verifiable rewards (RLVR) has become the mainstream technique for training LLM agents. However, RLVR highly depends on well-crafted task queries and corresponding ground-truth answers to provide accurate rewards,…

We propose SPARC, a lightweight continual learning framework for large language models (LLMs) that enables efficient task adaptation through prompt tuning in a lower-dimensional space. By leveraging principal component analysis (PCA), we…

Large Language Models (LLMs) have gained widespread popularity across diverse domains involving text generation, summarization, and various natural language processing tasks. Despite their inherent limitations, LLM-based designs have shown…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for robotic manipulation. However, existing post-training methods face a dilemma between stability and exploration: Supervised Fine-Tuning (SFT) is constrained by…

Reinforcement learning (RL) in sparse-reward environments remains a significant challenge due to the lack of informative feedback. We propose a simple yet effective method that uses a small number of successful demonstrations to initialize…