相关论文: Collision- and Reachability-Aware Multi-Robot Cont…

Recent works on large language models (LLMs) have successfully demonstrated the emergence of reasoning capabilities via reinforcement learning (RL). Although recent efforts leverage group relative policy optimization (GRPO) for MLLMs…

Deploying Reinforcement Learning (RL) agents to solve real-world applications often requires satisfying complex system constraints. Often the constraint thresholds are incorrectly set due to the complex nature of a system or the inability…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…

The ability to grasp objects in-the-wild from open-ended language instructions constitutes a fundamental challenge in robotics. An open-world grasping system should be able to combine high-level contextual with low-level physical-geometric…

Fine-tuning large language models (LLMs) for downstream tasks typically exhibit a fundamental safety-capability tradeoff, where improving task performance degrades safety alignment even on benign datasets. This degradation persists across…

Large vision-language models (VLMs) for autonomous driving (AD) are evolving beyond perception and cognition tasks toward motion planning. However, we identify two critical challenges in this direction: (1) VLMs tend to learn shortcuts by…

Unsupervised reinforcement learning with verifiable rewards (URLVR) offers a pathway to scale LLM training beyond the supervision bottleneck by deriving rewards without ground truth labels. Recent works leverage model intrinsic signals,…

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and…

We investigate the use of Multimodal Large Language Models (MLLMs) with in-context learning for closed-loop task planning in instruction-following manipulation. We identify four essential requirements for successful task planning: quantity…

Reinforcement learning with verifiable rewards (RLVR) has become central to post-training reasoning models, yet a key limitation of existing studies is their narrow view of the reasoning space: difficulty is treated as reasoning depth…

Large Language Models (LLMs) are transforming the robotics domain by enabling robots to comprehend and execute natural language instructions. The cornerstone benefits of LLM include processing textual data from technical manuals,…

Automating activities through robots in unstructured environments, such as construction sites, has been a long-standing desire. However, the high degree of unpredictable events in these settings has resulted in far less adoption compared to…

Multimodal Large Reasoning Models (MLRMs) demonstrate impressive cross-modal reasoning but often amplify safety risks under adversarial or unsafe prompts, a phenomenon we call the \textit{Reasoning Tax}. Existing defenses mainly act at the…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

Reinforcement Learning with Verifiable Rewards~(RLVR) has become a prominent paradigm to enhance the capabilities (i.e.\ long-context) of Large Language Models~(LLMs). However, it often relies on gold-standard answers or explicit evaluation…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Grounding natural-language instructions into continuous control for quadruped robots remains a fundamental challenge in vision language action. Existing methods struggle to bridge high-level semantic reasoning and low-level actuation,…

Recent progress in reinforcement learning with verifiable rewards (RLVR) shows that small, specialized language models (SLMs) can exhibit structured reasoning without relying on large monolithic LLMs. We introduce soft hidden-state…