相关论文: VLM-RL: A Unified Vision Language Models and Reinf…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to design effective reward functions. In this paper, we propose…

Recently DeepSeek R1 has shown that reinforcement learning (RL) can substantially improve the reasoning capabilities of Large Language Models (LLMs) through a simple yet effective design. The core of R1 lies in its rule-based reward…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Reinforcement Learning (RL) plays a crucial role in advancing autonomous driving technologies by maximizing reward functions to achieve the optimal policy. However, crafting these reward functions has been a complex, manual process in many…

End-to-end autonomous driving frameworks face persistent challenges in generalization, training efficiency, and interpretability. While recent methods leverage Vision-Language Models (VLMs) through supervised learning on large-scale…

Vision-language models (VLMs) have shown remarkable abilities by integrating large language models with visual inputs. However, they often fail to utilize visual evidence adequately, either depending on linguistic priors in vision-centric…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

This paper presents CLIP-RLDrive, a new reinforcement learning (RL)-based framework for improving the decision-making of autonomous vehicles (AVs) in complex urban driving scenarios, particularly in unsignalized intersections. To achieve…

Autonomous driving policy learning with reinforcement learning (RL) is fundamentally limited by low sample efficiency, weak generalization, and a dependence on unsafe online trial-and-error interactions. Although safe RL introduces explicit…

Reinforcement learning (RL) requires either manually specifying a reward function, which is often infeasible, or learning a reward model from a large amount of human feedback, which is often very expensive. We study a more sample-efficient…

Pre-trained Vision-Language Models (VLMs) are able to understand visual concepts, describe and decompose complex tasks into sub-tasks, and provide feedback on task completion. In this paper, we aim to leverage these capabilities to support…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

Autonomous highway driving demands a critical balance between proactive, efficiency-seeking behavior and robust safety guarantees. This paper proposes Language Action-guided Reinforcement Learning (LA-RL) with Safety Guarantees, a novel…

Reinforcement Learning (RL) has emerged as a dominant paradigm for end-to-end autonomous driving (AD). However, RL suffers from sample inefficiency and a lack of semantic interpretability in complex scenarios. Foundation Models,…

Reinforcement Learning (RL) is a promising approach for achieving autonomous driving due to robust decision-making capabilities. RL learns a driving policy through trial and error in traffic scenarios, guided by a reward function that…

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…

Building generalist agents that can accomplish many goals in rich open-ended environments is one of the research frontiers for reinforcement learning. A key limiting factor for building generalist agents with RL has been the need for a…

End-to-end autonomous driving systems map sensor data directly to control commands, but remain opaque, lack interpretability, and offer no formal safety guarantees. While recent vision-language-guided reinforcement learning (RL) methods…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…