相关论文: Discovering and Achieving Goals via World Models

We introduce RynnVLA-002, a unified Vision-Language-Action (VLA) and world model. The world model leverages action and visual inputs to predict future image states, learning the underlying physics of the environment to refine action…

Humans naturally adapt to diverse environments by learning underlying rules across worlds with different dynamics, observations, and reward structures. In contrast, existing agents typically demonstrate improvements via self-evolving within…

Latent Action Models (LAMs) enable the learning of world models from unlabeled video by inferring abstract actions between consecutive frames. However, LAMs face a fundamental trade-off between action abstraction and generation fidelity.…

In this paper, we explore how we can build upon the data and models of Internet images and use them to adapt to robot vision without requiring any extra labels. We present a framework called Self-supervised Embodied Active Learning (SEAL).…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

One difficulty in using artificial agents for human-assistive applications lies in the challenge of accurately assisting with a person's goal(s). Existing methods tend to rely on inferring the human's goal, which is challenging when there…

Modern world models require costly and time-consuming collection of large video datasets with action demonstrations by people or by environment-specific agents. To simplify training, we focus on using many virtual environments for…

Assistive agents should make humans' lives easier. Classically, such assistance is studied through the lens of inverse reinforcement learning, where an assistive agent (e.g., a chatbot, a robot) infers a human's intention and then selects…

This paper considers a scenario in city navigation: an AI agent is provided with language descriptions of the goal location with respect to some well-known landmarks; By only observing the scene around, including recognizing landmarks and…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

In an unfamiliar setting, a model-based reinforcement learning agent can be limited by the accuracy of its world model. In this work, we present a novel, training-free approach to improving the performance of such agents separately from…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Unsupervised skill learning aims to learn a rich repertoire of behaviors without external supervision, providing artificial agents with the ability to control and influence the environment. However, without appropriate knowledge and…

Autonomous robots collaboratively exploring an unknown environment is still an open problem. The problem has its roots in coordination among non-stationary agents, each with only a partial view of information. The problem is compounded when…

Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding with new models and datasets, making it both exciting and…

An agent that has well understood the environment should be able to apply its skills for any given goals, leading to the fundamental problem of learning the Universal Value Function Approximator (UVFA). A UVFA learns to predict the…

This work proposes a novel model-free Reinforcement Learning (RL) agent that is able to learn how to complete an unknown task having access to only a part of the input observation. We take inspiration from the concepts of visual attention…

Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types…

Reinforcement learning has the potential to automate the acquisition of behavior in complex settings, but in order for it to be successfully deployed, a number of practical challenges must be addressed. First, in real world settings, when…