Related papers: Visual Prompt Guided Unified Pushing Policy

Vision-language models (VLMs) can learn high-quality representations from a large-scale training dataset of image-text pairs. Prompt learning is a popular approach to fine-tuning VLM to adapt them to downstream tasks. Despite the satisfying…

Overfitting in RL has become one of the main obstacles to applications in reinforcement learning(RL). Existing methods do not provide explicit semantic constrain for the feature extractor, hindering the agent from learning a unified…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

We consider the generic problem of detecting low-level structures in images, which includes segmenting the manipulated parts, identifying out-of-focus pixels, separating shadow regions, and detecting concealed objects. Whereas each such…

Vision generation remains a challenging frontier in artificial intelligence, requiring seamless integration of visual understanding and generative capabilities. In this paper, we propose a novel framework, Vision-Driven Prompt Optimization…

Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…

Garment manipulation has attracted increasing attention due to its critical role in home-assistant robotics. However, the majority of existing garment manipulation works assume an initial state consisting of only one garment, while piled…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

Recent advancements in multimodal reward models (RMs) have significantly propelled the development of visual generation. Existing frameworks typically adopt Bradley-Terry-style preference modeling or leverage generative VLMs as judges, and…

Efficient tabletop rearrangement remains challenging due to collisions and the need for temporary buffering when target poses are obstructed. Prehensile pick-and-place provides precise control but often requires extra moves, whereas…

Enabling humanoid robots to reliably execute complex multi-step manipulation tasks is crucial for their effective deployment in industrial and household environments. This paper presents a hierarchical planning and control framework…

Feedback is crucial for every design process, such as user interface (UI) design, and automating design critiques can significantly improve the efficiency of the design workflow. Although existing multimodal large language models (LLMs)…

Achieving generalizable bimanual manipulation requires systems that can learn efficiently from minimal human input while adapting to real-world uncertainties and diverse embodiments. Existing approaches face a dilemma: imitation policy…

Large Vision-Language Models (VLMs) are increasingly being regarded as foundation models that can be instructed to solve diverse tasks by prompting, without task-specific training. We examine the seemingly obvious question: how to…

Sampling efficiency is a key bottleneck in reinforcement learning with verifiable rewards. Existing group-based policy optimization methods, such as GRPO, allocate a fixed number of rollouts for all training prompts. This uniform allocation…

Prompt tuning is an efficient solution for training large language models (LLMs). However, current soft-prompt-based methods often sacrifice multi-task modularity, requiring the training process to be fully or partially repeated for each…

Emerging efforts in AI alignment seek to broaden participation in shaping model behavior by eliciting and integrating collective input into a policy for model finetuning. While pluralistic, these processes are often linear and do not allow…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Large Language Models (LLMs) have gained widespread popularity due to their ability to perform ad-hoc Natural Language Processing (NLP) tasks with a simple natural language prompt. Part of the appeal for LLMs is their approachability to the…

This paper explains the Visual Milestone Planning (VMP) method using an agile vocabulary to facilitate its adoption by agile practitioners as a front end for a hybrid development process. VMP is a visual and collaborative planning approach…