Related papers: CORAL: Scalable Multi-Task Robot Learning via LoRA…

We introduce a curriculum learning algorithm, Variational Automatic Curriculum Learning (VACL), for solving challenging goal-conditioned cooperative multi-agent reinforcement learning problems. We motivate our paradigm through a variational…

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly.…

LoRA-based continual learning represents a promising avenue for leveraging pre-trained models in downstream continual learning tasks. Recent studies have shown that orthogonal LoRA tuning effectively mitigates forgetting. However, this work…

Vision-Language-Action~(VLA) models have shown strong potential for general-purpose robotic manipulation, yet they still struggle to generalize to unseen tasks that necessitate transferring relevant experience across objects, scenes, and…

Reinforcement learning (RL) problems can be challenging without well-shaped rewards. Prior work on provably efficient RL methods generally proposes to address this issue with dedicated exploration strategies. However, another way to tackle…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

LoRA employs lightweight modules to customize large language models (LLMs) for each downstream task or domain, where different learned additional modules represent diverse skills. Combining existing LoRAs to address new tasks can enhance…

Recent Video Large Language Models (Video-LLMs) have shown strong multimodal reasoning capabilities, yet remain challenged by video understanding tasks that require consistent temporal ordering and causal coherence. Many parameter-efficient…

Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for complex task planning. However, mastering…

Safety alignment is essential for building trustworthy artificial intelligence, yet it remains challenging to enhance model safety without degrading general performance. Current approaches require computationally expensive searches for the…

Multimodal Biomedical Image Incremental Learning (MBIIL) is essential for handling diverse tasks and modalities in the biomedical domain, as training separate models for each modality or task significantly increases inference costs.…

Despite the success of the monolithic dense paradigm of large language models (LLMs), the LoRA adapters offer an efficient solution by fine-tuning small task-specific modules and merging them with the base model. However, in multi-task…

Parameter-efficient fine-tuning enables fast personalization of text-to-image diffusion models, but composing multiple custom concepts remains challenging due to representation interference. Existing modular methods either rely on expensive…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…

Low-Rank Adaptation (LoRA) is a crucial method for efficiently fine-tuning large language models (LLMs), with its effectiveness influenced by two key factors: rank selection and weight initialization. While numerous LoRA variants have been…

Class-Incremental Learning (CIL) aims to learn new classes sequentially while retaining the knowledge of previously learned classes. Recently, pre-trained models (PTMs) combined with parameter-efficient fine-tuning (PEFT) have shown…

The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot policies remains fundamentally constrained: it is…

Cooperative multi-agent reinforcement learning (MARL) has made prominent progress in recent years. For training efficiency and scalability, most of the MARL algorithms make all agents share the same policy or value network. However, in many…

In multi-robot exploration, a team of mobile robot is tasked with efficiently mapping an unknown environments. While most exploration planners assume omnidirectional sensors like LiDAR, this is impractical for small robots such as drones,…