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

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…

It is desirable but challenging to generate content-rich long videos in the scale of minutes. Autoregressive large language models (LLMs) have achieved great success in generating coherent and long sequences of tokens in the domain of…

Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critical for human-like dexterity. We present Text2Touch, bringing…

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…

Large pretrained models are showing increasingly better performance in reasoning and planning tasks across different modalities, opening the possibility to leverage them for complex sequential decision making problems. In this paper, we…

In offline reinforcement learning (RL), learning from fixed datasets presents a promising solution for domains where real-time interaction with the environment is expensive or risky. However, designing dense reward signals for offline…

Text-conditioned diffusion models have emerged as a promising tool for neural video generation. However, current models still struggle with intricate spatiotemporal prompts and often generate restricted or incorrect motion. To address these…

Learning from human feedback has shown to be a useful approach in acquiring robot reward functions. However, expert feedback is often assumed to be drawn from an underlying unimodal reward function. This assumption does not always hold…

Reinforcement Learning (RL) has achieved remarkable success in various domains, yet it often relies on carefully designed programmatic reward functions to guide agent behavior. Designing such reward functions can be challenging and may not…

In recent years, studies have been actively conducted on combining large language models (LLM) and robotics; however, most have not considered end-to-end feedback in the robot-motion generation phase. The prediction of deep neural networks…

Understanding real-world videos with complex semantics and long temporal dependencies remains a fundamental challenge in computer vision. Recent progress in multimodal large language models (MLLMs) has demonstrated strong capabilities in…

Reinforcement learning (RL) can align language models with non-differentiable reward signals, such as human preferences. However, a major challenge arises from the sparsity of these reward signals - typically, there is only a single reward…

Large language models (LLMs) have shown remarkable abilities in logical reasoning, in-context learning, and code generation. However, translating natural language instructions into effective robotic control policies remains a significant…

Recent works on large language models (LLMs) have successfully demonstrated the emergence of reasoning capabilities via reinforcement learning (RL). Although recent efforts leverage group relative policy optimization (GRPO) for MLLMs…

World models predict state transitions in response to actions and are increasingly developed across diverse modalities. However, standard training objectives such as maximum likelihood estimation (MLE) often misalign with task-specific…

Bilingual text-to-motion generation, which synthesizes 3D human motions from bilingual text inputs, holds immense potential for cross-linguistic applications in gaming, film, and robotics. However, this task faces critical challenges: the…

Video generation models produce visually coherent content but struggle with tasks requiring spatial reasoning and multi-step planning. Reinforcement learning (RL) offers a path to improve generalization, but its effectiveness in video…

Large language models (LLMs) provide excellent text-generation capabilities, but standard prompting and generation methods generally do not lead to intentional or goal-directed agents and might necessitate considerable prompt tuning. This…

Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires specifying all the relevant features a priori, which is…