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

Vision language models (VLMs) have achieved impressive performance across a variety of computer vision tasks. However, the multimodal reasoning capability has not been fully explored in existing models. In this paper, we propose a…

Personalized driving refers to an autonomous vehicle's ability to adapt its driving behavior or control strategies to match individual users' preferences and driving styles while maintaining safety and comfort standards. However, existing…

Developing scalable and generalizable reward engineering for reinforcement learning (RL) is crucial for creating general-purpose agents, especially in the challenging domain of robotic manipulation. While recent advances in reward…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Vision-Language Models (VLMs) are crucial for applications requiring integrated understanding textual and visual information. However, existing VLMs struggle with long videos due to computational inefficiency, memory limitations, and…

Multimodal Large Language Models (MLLMs) excel in understanding complex language and visual data, enabling generalist robotic systems to interpret instructions and perform embodied tasks. Nevertheless, their real-world deployment is…

Vision-Language Models (VLMs) have demonstrated great potential in interpreting remote sensing (RS) images through language-guided semantic. However, the effectiveness of these VLMs critically depends on high-quality image-text training…

Learning reward functions for physical skills are challenging due to the vast spectrum of skills, the high-dimensionality of state and action space, and nuanced sensory feedback. The complexity of these tasks makes acquiring expert…

Using learned reward functions (LRFs) as a means to solve sparse-reward reinforcement learning (RL) tasks has yielded some steady progress in task-complexity through the years. In this work, we question whether today's LRFs are best-suited…

Using vision-language models (VLMs) as reward models in reinforcement learning holds promise for reducing costs and improving safety. So far, VLM reward models have only been used for goal-oriented tasks, where the agent must reach a…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Recent rehearsal-free continual learning (CL) methods guided by prompts achieve strong performance on vision tasks with non-stationary data but remain resource-intensive, hindering real-world edge deployment. We introduce resource-efficient…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

Vision-Language Models (VLMs) often struggle with tasks that require fine-grained image understanding, such as scene-text recognition or document analysis, due to perception limitations and visual fragmentation. To address these challenges,…

The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Models (PRMs) are a promising direction, they are often hindered…

Multi-agent reinforcement learning (MARL) commonly relies on a centralized critic to estimate the value function. However, learning such a critic from scratch is highly sample-inefficient and often lacks generalization across environments.…

Video Large Language Models (Video-LLMs) have made remarkable progress in video understanding tasks. However, they are constrained by the maximum length of input tokens, making it impractical to input entire videos. Existing frame selection…

The expansion of instruction-tuning data has enabled foundation language models to exhibit improved instruction adherence and superior performance across diverse downstream tasks. Semantically-rich 3D human motion is being progressively…

Visual Robot Manipulation (VRM) aims to enable a robot to follow natural language instructions based on robot states and visual observations, and therefore requires costly multi-modal data. To compensate for the deficiency of robot data,…