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

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

In this paper, we introduce DirectorLLM, a novel video generation model that employs a large language model (LLM) to orchestrate human poses within videos. As foundational text-to-video models rapidly evolve, the demand for high-quality…

Natural language can offer a concise and human-interpretable means of specifying reinforcement learning (RL) tasks. The ability to extract rewards from a language instruction can enable the development of robotic systems that can learn from…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

With the increasing presence of robots in our every-day environments, improving their social skills is of utmost importance. Nonetheless, social robotics still faces many challenges. One bottleneck is that robotic behaviors need to be often…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Although Deep Reinforcement Learning (DRL) has achieved notable success in numerous robotic applications, designing a high-performing reward function remains a challenging task that often requires substantial manual input. Recently, Large…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…

The application of reinforcement learning (RL) to enhance the reasoning capabilities of Multimodal Large Language Models (MLLMs) constitutes a rapidly advancing research area. While MLLMs extend Large Language Models (LLMs) to handle…

We investigate the use of animal videos (observations) to improve Reinforcement Learning (RL) efficiency and performance in navigation tasks with sparse rewards. Motivated by theoretical considerations, we make use of weighted policy…

Vision-to-code tasks require models to reconstruct structured visual inputs, such as charts, tables, and SVGs, into executable or structured representations with high visual fidelity. While recent Large Vision Language Models (LVLMs)…

Large Language Models (LLMs) have allowed recent LLM-based approaches to achieve excellent performance on long-video understanding benchmarks. We investigate how extensive world knowledge and strong reasoning skills of underlying LLMs…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…

We propose VideoPerceiver, a novel video multimodal large language model (VMLLM) that enhances fine-grained perception in video understanding, addressing VMLLMs' limited ability to reason about brief actions in short clips or rare transient…

Reinforcement learning (RL) has shown promise in generating robust locomotion policies for bipedal robots, but often suffers from tedious reward design and sensitivity to poorly shaped objectives. In this work, we propose a structured…

This paper introduces VimoRAG, a novel video-based retrieval-augmented motion generation framework for motion large language models (LLMs). As motion LLMs face severe out-of-domain/out-of-vocabulary issues due to limited annotated data,…

Recent advances in video diffusion models have remarkably improved camera-controlled video generation, but most methods rely solely on supervised fine-tuning (SFT), leaving online reinforcement learning (RL) post-training largely…

Online reinforcement learning (RL) with sparse rewards poses a challenge partly because of the lack of feedback on states leading to the goal. Furthermore, expert offline data with reward signal is rarely available to provide this feedback…

In reinforcement learning (RL), different reward functions can define the same optimal policy but result in drastically different learning performance. For some, the agent gets stuck with a suboptimal behavior, and for others, it solves the…