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

Traditional reinforcement learning (RL) methods typically employ a fixed control loop, where each cycle corresponds to an action. This rigidity poses challenges in practical applications, as the optimal control frequency is task-dependent.…

Vision Language Models (VLMs) pretrained on Internet-scale vision-language data have demonstrated the potential to transfer their knowledge to robotic learning. However, the existing paradigm encounters three critical challenges: (1)…

Recent Multimodal Large Language Models (MLLMs) have shown high potential for spatial reasoning within 3D scenes. However, they typically rely on computationally expensive 3D representations like point clouds or reconstructed Bird's-Eye…

Long video understanding is still challenging for recent Large Video-Language Models (LVLMs) due to the conflict between long-form temporal understanding and detailed spatial perception. LVLMs with a uniform frame sampling mechanism, which…

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…

We present LARL-RM (Large language model-generated Automaton for Reinforcement Learning with Reward Machine) algorithm in order to encode high-level knowledge into reinforcement learning using automaton to expedite the reinforcement…

Recent advances in vision-language models (VLMs) have significantly improved performance in embodied tasks such as goal decomposition and visual comprehension. However, providing accurate rewards for robotic manipulation without fine-tuning…

Vision-language models (VLMs) show promise in automating reward design in humanoid locomotion, which could eliminate the need for tedious manual engineering. However, current VLM-based methods are essentially "blind", as they lack the…

Ultra long video understanding remains an open challenge, as existing vision language models (VLMs) falter on such content due to limited context length and inefficient long term memory retention. To address this, recent works have…

Large vision-language models (VLMs) have made significant strides in 2D visual understanding tasks, sparking interest in extending these capabilities to 3D scene understanding. However, current 3D VLMs often struggle with robust reasoning…

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…

Reinforcement learning (RL) has demonstrated compelling performance in robotic tasks, but its success often hinges on the design of complex, ad hoc reward functions. Researchers have explored how Large Language Models (LLMs) could enable…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

Vision-Language-Action models (VLA) have demonstrated remarkable capabilities and promising potential in solving complex robotic manipulation tasks. However, their substantial parameter sizes and high inference latency pose significant…

Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…

Reinforcement learning with verifiable rewards (RLVR) has proven effective in eliciting complex reasoning in large language models (LLMs). However, standard RLVR training often leads to excessively verbose processes (in reasoning tasks) and…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

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…

Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models (VLMs) and incurs catastrophic…