相关论文: Visual Grounding for Object-Level Generalization i…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Modern neural language models (LMs) are powerful tools for modeling human sentence production and comprehension, and their internal representations are remarkably well-aligned with representations of language in the human brain. But to…

Episodic training, where an agent's environment is reset after every success or failure, is the de facto standard when training embodied reinforcement learning (RL) agents. The underlying assumption that the environment can be easily reset…

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To…

Traditional visual grounding methods primarily focus on single-image scenarios with simple textual references. However, extending these methods to real-world scenarios that involve implicit and complex instructions, particularly in…

Understanding relationships between objects is central to visual intelligence, with applications in embodied AI, assistive systems, and scene understanding. Yet, most visual relationship detection (VRD) models rely on a fixed predicate set,…

Visual grounding is an essential tool that links user-provided text queries with query-specific regions within an image. Despite advancements in visual grounding models, their ability to comprehend complex queries remains limited. To…

We propose to directly map raw visual observations and text input to actions for instruction execution. While existing approaches assume access to structured environment representations or use a pipeline of separately trained models, we…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

Vision-Language Pre-training (VLP) has advanced the performance of many vision-language tasks, such as image-text retrieval, visual entailment, and visual reasoning. The pre-training mostly utilizes lexical databases and image queries in…

Online reinforcement learning in complex tasks is time-consuming, as massive interaction steps are needed to learn the optimal Q-function.Vision-language action (VLA) policies represent a promising direction for solving diverse tasks;…

Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs can also natively produce robot trajectories. We demonstrate…

Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…

Graphical user interface (GUI) grounding is a fundamental task for building GUI agents. However, general vision-language models (VLMs) struggle with this task due to a lack of specific optimization. We identify a key gap in this paper:…

Language grounding aims at linking the symbolic representation of language (e.g., words) into the rich perceptual knowledge of the outside world. The general approach is to embed both textual and visual information into a common space -the…

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…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

We introduce Reward-Zero, a general-purpose implicit reward mechanism that transforms natural-language task descriptions into dense, semantically grounded progress signals for reinforcement learning (RL). Reward-Zero serves as a simple yet…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…