相关论文: MA-ROESL: Motion-aware Rapid Reward Optimization f…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

A well-designed reward is critical for effective reinforcement learning-based policy improvement. In real-world robotics, obtaining such rewards typically requires either labor-intensive human labeling or brittle, handcrafted objectives.…

In recent years, reinforcement learning (RL)-based methods for learning driving policies have gained increasing attention in the autonomous driving community and have achieved remarkable progress in various driving scenarios. However,…

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…

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…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

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…

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…

Video understanding is inherently intention-driven-humans naturally focus on relevant frames based on their goals. Recent advancements in multimodal large language models (MLLMs) have enabled flexible query-driven reasoning; however,…

Vision-Language-Action (VLA) models have become a prominent paradigm for embodied intelligence, yet further performance improvements typically rely on scaling up training data and model size -- an approach that is prohibitively expensive…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

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…

Reward design is of great importance for solving complex tasks with reinforcement learning. Recent studies have explored using image-text similarity produced by vision-language models (VLMs) to augment rewards of a task with visual…

Long-form video understanding, characterized by long-range temporal dependencies and multiple events, remains a challenge. Existing methods often rely on static reasoning or external visual-language models (VLMs), which face issues like…

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement…

Large Vision-Language Models (LVLMs) have recently advanced robotic manipulation by leveraging vision for scene perception and language for instruction following. However, existing methods rely heavily on costly human-annotated training…

Large vision-language models (LVLMs) often fail to align with human preferences, leading to issues like generating misleading content without proper visual context (also known as hallucination). A promising solution to this problem is using…

Multimodal Reward Models (MRMs) play a crucial role in enhancing the performance of Multimodal Large Language Models (MLLMs). While recent advancements have primarily focused on improving the model structure and training data of MRMs, there…

Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explicitly such as "walking forward with an upright posture," the…