Related papers: MARVL: Multi-Stage Guidance for Robotic Manipulati…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

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…

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…

Recent advances in multimodal reward modeling have been largely driven by a paradigm shift from discriminative to generative approaches. Building on this progress, recent studies have further employed reinforcement learning from verifiable…

In this work, we investigate how to leverage pre-trained visual-language models (VLM) for online Reinforcement Learning (RL). In particular, we focus on sparse reward tasks with pre-defined textual task descriptions. We first identify the…

Process Reward Models (PRMs) provide step-level supervision that improves the reliability of reasoning in large language models. While PRMs have been extensively studied in text-based domains, their extension to Vision Language Models…

Vision-language models (VLMs) have demonstrated excellent high-level planning capabilities, enabling locomotion skill learning from video demonstrations without the need for meticulous human-level reward design. However, the improper frame…

Vision-language reward modeling faces a dilemma: generative approaches are interpretable but slow, while discriminative ones are efficient but act as opaque "black boxes." To bridge this gap, we propose VL-MDR (Vision-Language…

Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensional control. While reinforcement learning (RL) can alleviate…

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…

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…

A well-designed reward is critical for effective reinforcement learning-based policy improvement. In real-world robotics, obtaining such rewards typically requires either labor-intensive human labeling or brittle, handcrafted objectives.…

Vision-Language Models (VLMs) frequently suffer from visual perception errors and hallucinations that compromise answer accuracy in complex reasoning tasks. Reinforcement Learning with Verifiable Rewards (RLVR) offers a promising solution…

Using learned reward functions (LRFs) as a means to solve sparse-reward reinforcement learning (RL) tasks has yielded some steady progress in task-complexity through the years. In this work, we question whether today's LRFs are best-suited…

Although Deep Reinforcement Learning (DRL) has achieved notable success in numerous robotic applications, designing a high-performing reward function remains a challenging task that often requires substantial manual input. Recently, Large…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

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…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Reward engineering, the manual specification of reward functions to induce desired agent behavior, remains a fundamental challenge in multi-agent reinforcement learning. This difficulty is amplified by credit assignment ambiguity,…