相关论文: Video2Reward: Generating Reward Function from Vide…

In-context learning enables large language models (LLMs) to perform a variety of tasks, including learning to make reward-maximizing choices in simple bandit tasks. Given their potential use as (autonomous) decision-making agents, it is…

Recent advancements in large language models have influenced the development of video large multimodal models (VLMMs). The previous approaches for VLMMs involved Supervised Fine-Tuning (SFT) with instruction-tuned datasets, integrating LLM…

Recently, there has been considerable attention towards leveraging large language models (LLMs) to enhance decision-making processes. However, aligning the natural language text instructions generated by LLMs with the vectorized operations…

Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…

Natural language is often the easiest and most convenient modality for humans to specify tasks for robots. However, learning to ground language to behavior typically requires impractical amounts of diverse, language-annotated demonstrations…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Video generative models are increasingly used as world models for robotics, where a model generates a future visual rollout conditioned on the current observation and task instruction, and an inverse dynamics model (IDM) converts the…

We transform reinforcement learning (RL) into a form of supervised learning (SL) by turning traditional RL on its head, calling this Upside Down RL (UDRL). Standard RL predicts rewards, while UDRL instead uses rewards as task-defining…

Large language model alignment via reinforcement learning depends critically on reward function quality. However, static, domain-specific reward models are often costly to train and exhibit poor generalization in out-of-distribution…

World models have demonstrated superiority in autonomous driving, particularly in the generation of multi-view driving videos. However, significant challenges still exist in generating customized driving videos. In this paper, we propose…

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…

The remarkable capabilities and easy accessibility of large language models (LLMs) have significantly increased societal risks (e.g., fake news generation), necessitating the development of LLM-generated text (LGT) detection methods for…

This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results…

Large language models (LLMs) can be improved by aligning with human preferences through fine-tuning -- the so-called reinforcement learning from human feedback (RLHF). However, the cost of fine-tuning an LLM is prohibitive for many users.…

Learning-based methods have proven useful at generating complex motions for robots, including humanoids. Reinforcement learning (RL) has been used to learn locomotion policies, some of which leverage a periodic reward formulation. This work…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

We propose a large language model based reward decomposition framework for aligning dialogue agents using only a single session-level feedback signal. We leverage the reasoning capabilities of a frozen, pretrained large language model (LLM)…

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…

Large Reasoning Models (LRMs) have shown remarkable capabilities in solving complex problems through reinforcement learning (RL), particularly by generating long reasoning traces. However, these extended outputs often exhibit substantial…

This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective learning of new behaviors. While existing text-to-motion…