相关论文: STRIDE: Automating Reward Design, Deep Reinforceme…

The rapid shift from stateless large language models (LLMs) to autonomous, goal-driven agents raises a central question: When is agentic AI truly necessary? While agents enable multi-step reasoning, persistent memory, and tool…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Robotic systems operating in unstructured environments must operate under significant uncertainty arising from intermittent contacts, frictional variability, and unmodeled compliance. While recent model-free approaches have demonstrated…

In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with…

Enabling a high-degree-of-freedom robot to learn specific skills is a challenging task due to the complexity of robotic dynamics. Reinforcement learning (RL) has emerged as a promising solution; however, addressing such problems requires…

LLM-based equation discovery offers a promising route to recovering symbolic laws from data, but many systems still rely on generation-centered loops that propose candidates, fit parameters, score results, and reuse selected examples. Such…

Recent advances in Reinforcement Learning (RL) have underscored its potential for incentivizing reasoning capabilities of Large Language Models (LLMs). However, existing step-level efforts suffer from costly annotations that limit domain…

Deep Reinforcement Learning (DRL) has achieved great success in solving complicated decision-making problems. Despite the successes, DRL is frequently criticized for many reasons, e.g., data inefficient, inflexible and intractable reward…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. Reinforcement Learning (RL), a complementary paradigm,…

Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free reinforcement learning. However, these outstanding controllers…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…

Training reliable tool-augmented agents remains a significant challenge, largely due to the difficulty of credit assignment in multi-step reasoning. While process-level reward models offer a promising direction, existing LLM-based judges…

Recent advances in reinforcement learning (RL) have enabled impressive humanoid behaviors in simulation, yet transferring these results to new robots remains challenging. In many real deployments, the primary bottleneck is no longer…

Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…

Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…

One of the key challenges in current Reinforcement Learning (RL)-based Automated Driving (AD) agents is achieving flexible, precise, and human-like behavior cost-effectively. This paper introduces an innovative approach that uses large…

Real-world robotic tasks require complex reward functions. When we define the problem the robot needs to solve, we pretend that a designer specifies this complex reward exactly, and it is set in stone from then on. In practice, however,…

Developing machine intelligence abilities in robots and autonomous systems is an expensive and time consuming process. Existing solutions are tailored to specific applications and are harder to generalize. Furthermore, scarcity of training…