相关论文: An Investigation into Pre-Training Object-Centric …

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…

Recent advances in Multi-modal Large Language Models (MLLMs) have showcased remarkable capabilities in vision-language understanding. However, enabling robust video spatial reasoning-the ability to comprehend object locations, orientations,…

Reinforcement Learning (RL) algorithms can solve challenging control problems directly from image observations, but they often require millions of environment interactions to do so. Recently, model-based RL algorithms have greatly improved…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

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…

Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

First-person object-interaction tasks in high-fidelity, 3D, simulated environments such as the AI2Thor virtual home-environment pose significant sample-efficiency challenges for reinforcement learning (RL) agents learning from sparse task…

Object-centric representation learning aims to decompose visual scenes into fixed-size vectors called "slots" or "object files", where each slot captures a distinct object. Current state-of-the-art object-centric models have shown…

While reinforcement learning (RL) methods that learn an internal model of the environment have the potential to be more sample efficient than their model-free counterparts, learning to model raw observations from high dimensional sensors…

Reinforcement Learning (RL) is a powerful machine learning paradigm that has been applied in various fields such as robotics, natural language processing and game playing achieving state-of-the-art results. Targeted to solve sequential…

Conventional representation learning methods learn a universal representation that primarily captures dominant semantics, which may not always align with customized downstream tasks. For instance, in animal habitat analysis, researchers…

It is known that representations from self-supervised pre-training can perform on par, and often better, on various downstream tasks than representations from fully-supervised pre-training. This has been shown in a host of settings such as…

Reinforcement learning (RL) is a branch of machine learning which is employed to solve various sequential decision making problems without proper supervision. Due to the recent advancement of deep learning, the newly proposed Deep-RL…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…

This paper introduces Relative Predictive Coding (RPC), a new contrastive representation learning objective that maintains a good balance among training stability, minibatch size sensitivity, and downstream task performance. The key to the…

This paper introduces the offline meta-reinforcement learning (offline meta-RL) problem setting and proposes an algorithm that performs well in this setting. Offline meta-RL is analogous to the widely successful supervised learning strategy…

Instruction-driven image editing with unified multimodal generative models has advanced rapidly, yet their underlying visual reasoning remains limited, leading to suboptimal performance on reasoning-centric edits. Reinforcement learning…

The past few years have seen rapid progress in combining reinforcement learning (RL) with deep learning. Various breakthroughs ranging from games to robotics have spurred the interest in designing sophisticated RL algorithms and systems.…