相关论文: From Goal-Conditioned to Language-Conditioned Agen…

Vision-language-action (VLA) models extend vision-language models (VLM) by integrating action generation modules for robotic manipulation. Leveraging the strengths of VLM in vision perception and instruction understanding, VLA models…

Vision-Language-Action (VLA) models offer a pivotal approach to learning robotic manipulation at scale by repurposing large pre-trained Vision-Language-Models (VLM) to output robotic actions. However, adapting VLMs for robotic domains comes…

Training agents to act competently in complex 3D environments from high-dimensional visual information is challenging. Reinforcement learning is conventionally used to train such agents, but requires a carefully designed reward function,…

Recently, to comprehensively improve Vision Language Models (VLMs) for Visual Question Answering (VQA), several methods have been proposed to further reinforce the inference capabilities of VLMs to independently tackle VQA tasks rather than…

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…

Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where…

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…

Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models (VLMs) and incurs catastrophic…

Typically, a modern reinforcement learning (RL) agent solves a task by updating its neural network parameters to adapt its policy to the task. Recently, it has been observed that some RL agents can solve a wide range of new…

Reinforcement learning (RL) is one of the active fields in machine learning, demonstrating remarkable potential in tackling real-world challenges. Despite its promising prospects, this methodology has encountered with issues and challenges,…

Reasoning in a complex and ambiguous environment is a key goal for Reinforcement Learning (RL) agents. While some sophisticated RL agents can successfully solve difficult tasks, they require a large amount of training data and often…

Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to generalize beyond the specific environments and conditions they…

Adapting Large Language Models (LLMs) to downstream tasks using Reinforcement Learning (RL) has proven to be an effective approach. However, LLMs do not inherently define the structure of an agent for RL training, particularly in terms of…

Language models (LMs) are pre-trained on raw text datasets to generate text sequences token-by-token. While this approach facilitates the learning of world knowledge and reasoning, it does not explicitly optimize for linguistic competence.…

Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloning, overlooking the fundamental nature of robot learning as…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Pre-trained LLMs that are further trained with image data perform well on vision-language tasks. While adding images during a second training phase effectively unlocks this capability, it is unclear how much of a gain or loss this two-step…

Many vision-language models (VLMs) that prove very effective at a range of multimodal task, build on CLIP-based vision encoders, which are known to have various limitations. We investigate the hypothesis that the strong language backbone in…

A broad use case of large language models (LLMs) is in goal-directed decision-making tasks (or "agent" tasks), where an LLM needs to not just generate completions for a given prompt, but rather make intelligent decisions over a multi-turn…

Large language models (LLMs) have demonstrated remarkable capabilities across a range of text-generation tasks. However, LLMs still struggle with problems requiring multi-step decision-making and environmental feedback, such as online…