相关论文: VIBR: Learning View-Invariant Value Functions for …

Effectively localizing an agent in a realistic, noisy setting is crucial for many embodied vision tasks. Visual Odometry (VO) is a practical substitute for unreliable GPS and compass sensors, especially in indoor environments. While…

Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as a dominant paradigm for enhancing Large Language Models (LLMs) reasoning, yet its reliance on external verifiers limits its scalability. Recent findings suggest that RLVR…

Variational inference (VI) is a specific type of approximate Bayesian inference that approximates an intractable posterior distribution with a tractable one. VI casts the inference problem as an optimization problem, more specifically, the…

Multimodal large language models (MLLMs) trained with visual instruction tuning have achieved strong performance across diverse tasks, yet they remain limited in vision-centric tasks such as object counting or spatial reasoning. We…

Multimodal large language models via reinforcement learning (RL) have demonstrated remarkable capabilities in complex visual reasoning tasks, yet they remain limited in long-horizon multimodal scenarios, often suffering from visual…

Designing effective reward functions remains a fundamental challenge in reinforcement learning (RL), as it often requires extensive human effort and domain expertise. While RL from human feedback has been successful in aligning agents with…

Current image-based reinforcement learning (RL) algorithms typically operate on the whole image without performing object-level reasoning. This leads to inefficient goal sampling and ineffective reward functions. In this paper, we improve…

Vision Language Models (VLMs) are increasingly being used in a broad range of applications, bringing their security and behavioral control to the forefront. While existing approaches for behavioral control or output redirection, like system…

Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL directly on real systems, while simulation-based training…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

Visual place recognition (VPR) remains challenging due to significant viewpoint changes and appearance variations. Mainstream works tackle these challenges by developing various feature aggregation methods to transform deep features into…

The electromagnetic inverse problem has long been a research hotspot. This study aims to reverse radar view angles in synthetic aperture radar (SAR) images given a target model. Nonetheless, the scarcity of SAR data, combined with the…

Vision-Language-Action (VLA) models have recently emerged as powerful general-purpose policies for robotic manipulation, benefiting from large-scale multi-modal pre-training. However, they often fail to generalize reliably in…

Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…

Recent deep learning approaches for multi-view depth estimation are employed either in a depth-from-video or a multi-view stereo setting. Despite different settings, these approaches are technically similar: they correlate multiple source…

Large Vision-Language Models (LVLMs) typically follow a two-stage training paradigm-pretraining and supervised fine-tuning. Recently, preference optimization, derived from the language domain, has emerged as an effective post-training…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

In recent times, a variety of Reinforcement Learning (RL) algorithms have been proposed for optimal tracking problem of continuous time nonlinear systems with input constraints. Most of these algorithms are based on the notion of uniform…

Extracting a Bird's Eye View (BEV) representation from multiple camera images offers a cost-effective, scalable alternative to LIDAR-based solutions in autonomous driving. However, the performance of the existing BEV methods drops…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…