相关论文: Video Prediction Models as Rewards for Reinforceme…

One of the fundamental challenges in reinforcement learning (RL) is the one of data efficiency: modern algorithms require a very large number of training samples, especially compared to humans, for solving environments with high-dimensional…

This paper describes an application of reinforcement learning to the mention detection task. We define a novel action-based formulation for the mention detection task, in which a model can flexibly revise past labeling decisions by grouping…

Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…

Reward design is of great importance for solving complex tasks with reinforcement learning. Recent studies have explored using image-text similarity produced by vision-language models (VLMs) to augment rewards of a task with visual…

Reward models (RM) capture the values and preferences of humans and play a central role in Reinforcement Learning with Human Feedback (RLHF) to align pretrained large language models (LLMs). Traditionally, training these models relies on…

A major bottleneck for developing general reinforcement learning agents is determining rewards that will yield desirable behaviors under various circumstances. We introduce a general mechanism for automatically specifying meaningful…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Learning reward functions from data is a promising path towards achieving scalable Reinforcement Learning (RL) for robotics. However, a major challenge in training agents from learned reward models is that the agent can learn to exploit…

While most prior work in video generation relies on bidirectional architectures, recent efforts have sought to adapt these models into autoregressive variants to support near real-time generation. However, such adaptations often depend…

Designing dense rewards is crucial for reinforcement learning (RL), yet in robotics it often demands extensive manual effort and lacks scalability. One promising solution is to view task progress as a dense reward signal, as it quantifies…

Video prediction is a challenging computer vision task that has a wide range of applications. In this work, we present a new family of Transformer-based models for video prediction. Firstly, an efficient local spatial-temporal separation…

Reinforcement learning (RL) promises to enable autonomous acquisition of complex behaviors for diverse agents. However, the success of current reinforcement learning algorithms is predicated on an often under-emphasised requirement -- each…

Designing an effective reward function has long been a challenge in reinforcement learning, particularly for complex tasks in unstructured environments. To address this, various learning paradigms have emerged that leverage different forms…

Specifying rewards for reinforcement learned (RL) agents is challenging. Preference-based RL (PbRL) mitigates these challenges by inferring a reward from feedback over sets of trajectories. However, the effectiveness of PbRL is limited by…

In the last decade, deep learning has achieved great success in machine learning tasks where the input data is represented with different levels of abstractions. Driven by the recent research in reinforcement learning using deep neural…

We propose a deep video prediction model conditioned on a single image and an action class. To generate future frames, we first detect keypoints of a moving object and predict future motion as a sequence of keypoints. The input image is…

Visual generative models have achieved remarkable progress in synthesizing photorealistic images and videos, yet aligning their outputs with human preferences across critical dimensions remains a persistent challenge. Though reinforcement…

Offline Reinforcement Learning (ORL) offers a robust solution to training agents in applications where interactions with the environment must be strictly limited due to cost, safety, or lack of accurate simulation environments. Despite its…

This paper presents a deep Inverse Reinforcement Learning (IRL) framework that can learn an a priori unknown number of nonlinear reward functions from unlabeled experts' demonstrations. For this purpose, we employ the tools from Dirichlet…

Offline reinforcement learning (RL) provides a powerful framework for training robotic agents using pre-collected, suboptimal datasets, eliminating the need for costly, time-consuming, and potentially hazardous online interactions. This is…