相关论文: MoRE: Unlocking Scalability in Reinforcement Learn…

Inspired by the impressive reasoning capabilities demonstrated by reinforcement learning approaches like DeepSeek-R1, recent emerging research has begun exploring the use of reinforcement learning (RL) to enhance vision-language models…

Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…

The development of foundation models for embodied intelligence critically depends on access to large-scale, high-quality robot demonstration data. Recent approaches have sought to address this challenge by training on large collections of…

To teach robots complex manipulation tasks, a common approach is to fine-tune a pre-trained vision-language-action model (VLA) on task-specific data. However, since this recipe updates existing representations, it is unsuitable for…

Parameter-efficient fine-tuning techniques like Low-Rank Adaptation (LoRA) have revolutionized the adaptation of large language models (LLMs) to diverse tasks. Recent efforts have explored mixtures of LoRA modules for multi-task settings.…

Vision-Language-Action (VLA) models have shown a strong capability in enabling robots to execute general instructions, yet they struggle with contact-rich manipulation tasks, where success requires precise alignment, stable contact…

Class-incremental learning (CIL) requires deep learning models to continuously acquire new knowledge from streaming data while preserving previously learned information. Recently, CIL based on pre-trained models (PTMs) has achieved…

Adapting large-scale foundation models in multi-task scenarios often suffers from task conflict and oblivion. To mitigate such issues, we propose a novel ''model MoE-ization'' strategy that leads to a conflict- and oblivion-resistant…

Recent Vision-Language-Action (VLA) models reformulate vision-language models by tuning them with millions of robotic demonstrations. While they perform well when fine-tuned for a single embodiment or task family, extending them to…

Achieving versatile robot locomotion requires motor skills which can adapt to previously unseen situations. We propose a Multi-Expert Learning Architecture (MELA) that learns to generate adaptive skills from a group of representative expert…

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language…

In order to streamline the fine-tuning of foundation models, Low-Rank Adapters (LoRAs) have been substantially adopted across various fields, including instruction tuning and domain adaptation. The underlying concept of LoRA involves…

The rapid evolution of Large Language Models (LLMs) has shifted focus from general-purpose capabilities to domain-specific expertise. However, adapting LLMs to specialized fields such as medicine presents two challenge: (1) the…

In response to the challenges posed by the extensive parameter updates required for full fine-tuning of large-scale pre-trained models, parameter-efficient fine-tuning (PEFT) methods, exemplified by Low-Rank Adaptation (LoRA), have emerged.…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Multi-task learning (MTL) enables the efficient transfer of extra knowledge acquired from other tasks. The high correlation between multimodal sentiment analysis (MSA) and multimodal emotion recognition (MER) supports their joint training.…

Current vision-language models (VLMs) still exhibit inferior performance on knowledge-intensive tasks, primarily due to the challenge of accurately encoding all the associations between visual objects and scenes to their corresponding…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Many real-world problems (e.g., resource management, autonomous driving, drug discovery) require optimizing multiple, conflicting objectives. Multi-objective reinforcement learning (MORL) extends classic reinforcement learning to handle…

Multimodal language models (MLMs) integrate visual and textual information by coupling a vision encoder with a large language model through the specific adapter. While existing approaches commonly rely on a single pre-trained vision…