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Video generation models offer a promising imagination mechanism for robot manipulation by predicting long-horizon future observations, but effectively exploiting these imagined futures for action execution remains challenging. Existing…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision-Language-Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work…

Model-based reinforcement learning (RL) enjoys several benefits, such as data-efficiency and planning, by learning a model of the environment's dynamics. However, learning a global model that can generalize across different dynamics is a…

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward propagation. Moreover, standard RL methods require millions of…

Vision-language models are increasingly employed as multimodal conversational agents (MCAs) for diverse conversational tasks. Recently, reinforcement learning (RL) has been widely explored for adapting MCAs to various human-AI interaction…

Recent vision-language-action (VLA) models built upon pretrained vision-language models (VLMs) have achieved significant improvements in robotic manipulation. However, current VLAs still suffer from low sample efficiency and limited…

A plausible scene evolution depends on the maneuver being considered, while a good maneuver depends on how the scene may evolve. Existing World Action Models (WAMs) largely miss this reciprocity, treating world prediction and action…

Pretraining reinforcement learning (RL) models on offline datasets is a promising way to improve their training efficiency in online tasks, but challenging due to the inherent mismatch in dynamics and behaviors across various tasks. We…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

Temporal information is essential to learning effective policies with Reinforcement Learning (RL). However, current state-of-the-art RL algorithms either assume that such information is given as part of the state space or, when learning…

In many reinforcement learning tasks, the agent has to learn to interact with many objects of different types and generalize to unseen combinations and numbers of objects. Often a task is a composition of previously learned tasks (e.g.…

One of the most exciting applications of vision models involve pixel-level reasoning. Despite the abundance of vision foundation models, we still lack representations that effectively embed spatio-temporal properties of visual scenes at the…

Executing language-conditioned tasks in dynamic visual environments remains a central challenge in embodied AI. Existing Vision-Language-Action (VLA) models predominantly adopt reactive state-to-action mappings, often leading to…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

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…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…