相关论文: GridToPix: Training Embodied Agents with Minimal S…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Learning from rewards (i.e., reinforcement learning or RL) and learning to imitate a teacher (i.e., teacher-student learning) are two established approaches for solving sequential decision-making problems. To combine the benefits of these…

Recent embodied agents are primarily built based on reinforcement learning (RL) or large language models (LLMs). Among them, RL agents are efficient for deployment but only perform very few tasks. By contrast, giant LLM agents (often more…

Foundation models are first pre-trained on vast unsupervised datasets and then fine-tuned on labeled data. Reinforcement learning, notably from human feedback (RLHF), can further align the network with the intended usage. Yet the…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Finetuning Large Vision-Language Models with reinforcement learning has emerged as a promising approach to enhance their capability in object-level grounding. However, existing methods, mainly based on GRPO, assign rewards at the response…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Autonomous agents for long-sequence Graphical User Interface tasks are hindered by sparse rewards and the intractable credit assignment problem. To address these challenges, we introduce GUI-Shepherd, a Process Reward Model that provides…

Current approaches to embodied AI tend to learn policies from expert demonstrations. However, without a mechanism to evaluate the quality of demonstrated actions, they are limited to learning from optimal behaviour, or they risk replicating…

This paper presents a reinforcement learning framework that incorporates a Contextual Reward Machine for task-oriented grasping. The Contextual Reward Machine reduces task complexity by decomposing grasping tasks into manageable sub-tasks.…

Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks, yet they face significant challenges in embodied task planning scenarios that require continuous environmental understanding and action generation.…

Training tool-calling agents with reinforcement learning on multi-turn tasks remains challenging due to sparse outcome rewards and difficult credit assignment across conversation turns. We present the first application of MT-GRPO…

Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors,…

Controlling a biped robot to walk stably is a challenging task considering its nonlinearity and hybrid dynamics. Reinforcement learning can address these issues by directly mapping the observed states to optimal actions that maximize the…

Training multimodal agents via reinforcement learning for knowledge-intensive visual reasoning is fundamentally hindered by the extreme sparsity of outcome-based supervision and the unpredictability of live web environments. To resolve…

In Reinforcement Learning (abbreviated as RL), an agent interacts with the environment via a set of possible actions, and a reward is generated from some unknown distribution. The task here is to find an optimal set of actions such that the…

A key challenge for a reinforcement learning (RL) agent is to incorporate external/expert1 advice in its learning. The desired goals of an algorithm that can shape the learning of an RL agent with external advice include (a) maintaining…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

There has been significant progress in deep reinforcement learning (RL) in recent years. Nevertheless, finding suitable hyperparameter configurations and reward functions remains challenging even for experts, and performance heavily relies…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…