相关论文: Advancing Autonomous VLM Agents via Variational Su…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety…

Goal-conditioned reinforcement learning (GCRL) allows agents to learn diverse objectives using a unified policy. The success of GCRL, however, is contingent on the choice of goal representation. In this work, we propose a mask-based goal…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

We present an approach for reconfiguration of dynamic visual sensor networks with deep reinforcement learning (RL). Our RL agent uses a modified asynchronous advantage actor-critic framework and the recently proposed Relational Network…

Deep Reinforcement Learning (RL) is remarkably effective in addressing sequential resource allocation problems in domains such as healthcare, public policy, and resource management. However, deep RL policies often lack transparency and…

Visual-Inertial Odometry (VIO) is a critical component for robust ego-motion estimation, enabling foundational capabilities such as autonomous navigation in robotics and real-time 6-DoF tracking for augmented reality. Existing methods face…

While reinforcement learning (RL) over chains of thought has significantly advanced language models in tasks such as mathematics and coding, visual reasoning introduces added complexity by requiring models to direct visual attention,…

Generalization is a pivotal challenge for agents following natural language instructions. To approach this goal, we leverage a vision-language model (VLM) for visual grounding and transfer its vision-language knowledge into reinforcement…

In sequential decision-making problems, Return-Conditioned Supervised Learning (RCSL) has gained increasing recognition for its simplicity and stability in modern decision-making tasks. Unlike traditional offline reinforcement learning (RL)…

Offline reinforcement learning (RL) aims to learn a policy using only pre-collected and fixed data. Although avoiding the time-consuming online interactions in RL, it poses challenges for out-of-distribution (OOD) state actions and often…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

Cross-domain offline reinforcement learning (RL) aims to learn a policy in the target domain with a limited target domain dataset and a source domain dataset that exhibits a dynamics shift. Training directly on the original source dataset…

Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to how humans master skills through…

Recent advances in text-only "slow-thinking" reasoning have prompted efforts to transfer this capability to vision-language models (VLMs), for training visual reasoning models (\textbf{VRMs}). owever, such transfer faces critical…

Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate action sequences for robotic manipulation. Despite recent progress, VLA models still face challenges in learning related and reusable…

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack…

Vision-Language-Action (VLA) models offer a promising autonomous driving paradigm for leveraging world knowledge and reasoning capabilities, especially in long-tail scenarios. However, existing VLA models often struggle with the high…

Reinforcement learning (RL) is a powerful machine learning technique that enables an intelligent agent to learn an optimal policy that maximizes the cumulative rewards in sequential decision making. Most of methods in the existing…

Vision-language models (VLMs) have shown impressive capabilities across diverse tasks, motivating efforts to leverage these models to supervise robot learning. However, when used as evaluators in reinforcement learning (RL), today's…