相关论文: Comparing Popular Simulation Environments in the S…

Reinforcement learning (RL) has emerged as a critical paradigm for post-training Vision-Language-Action (VLA) models, enabling embodied agents to adapt and improve through environmental interaction. However, existing RL frameworks for VLAs…

Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…

Designing optimal controllers continues to be challenging as systems are becoming complex and are inherently nonlinear. The principal advantage of reinforcement learning (RL) is its ability to learn from the interaction with the environment…

Simulation offers a scalable and low-cost way to enrich vision-language-action (VLA) training, reducing reliance on expensive real-robot demonstrations. However, most sim-real co-training methods rely on supervised fine-tuning (SFT), which…

Reinforcement learning (RL) has achieved some impressive recent successes in various computer games and simulations. Most of these successes are based on having large numbers of episodes from which the agent can learn. In typical robotic…

Reinforcement learning (RL) has gained popularity in the realm of recommender systems due to its ability to optimize long-term rewards and guide users in discovering relevant content. However, the successful implementation of RL in…

Significant progress has been made in the area of model-based reinforcement learning. State-of-the-art algorithms are now able to match the asymptotic performance of model-free methods while being significantly more data efficient. However,…

An important goal of research in Deep Reinforcement Learning in mobile robotics is to train agents capable of solving complex tasks, which require a high level of scene understanding and reasoning from an egocentric perspective. When…

Robotics simulation provides many advantages during the development of an intelligent ground vehicle (IGV) such as testing the software components in varying scenarios without requiring a complete physical robot. This paper discusses a 3D…

To achieve general artificial intelligence, reinforcement learning (RL) agents should learn not only to optimize returns for one specific task but also to constantly build more complex skills and scaffold their knowledge about the world,…

Learning effective representations in image-based environments is crucial for sample efficient Reinforcement Learning (RL). Unfortunately, in RL, representation learning is confounded with the exploratory experience of the agent -- learning…

Recent breakthroughs in the reinforcement learning (RL) community have made significant advances towards learning and deploying policies on real world robotic systems. However, even with the current state-of-the-art algorithms and…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

Building upon prior research that highlighted the need for standardizing environments for building control research, and inspired by recently introduced challenges for real life reinforcement learning control, here we propose a…

Recent research has turned to Reinforcement Learning (RL) to solve challenging decision problems, as an alternative to hand-tuned heuristics. RL can learn good policies without the need for modeling the environment's dynamics. Despite this…

Reinforcement learning (RL) research requires diverse, challenging environments that are both tractable and scalable. While modern video games may offer rich dynamics, they are computationally expensive and poorly suited for large-scale…

The fields of MPC and RL consider two successful control techniques for Markov decision processes. Both approaches are derived from similar fundamental principles, and both are widely used in practical applications, including robotics,…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…