相关论文: Affordance-R1: Reinforcement Learning for Generali…

Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language…

Humans can perceive and reason about spatial relationships from sequential visual observations, such as egocentric video streams. However, how pretrained models acquire such abilities, especially high-level reasoning, remains unclear. This…

Training robust and generalizable reward models for human visual preferences is essential for aligning text-to-image and text-to-video generative models with human intent. However, current reward models often fail to generalize, and…

Generating grounded and trustworthy responses remains a key challenge for large language models (LLMs). While retrieval-augmented generation (RAG) with citation-based grounding holds promise, instruction-tuned models frequently fail even in…

Supervised fine-tuning (SFT) has emerged as one of the most effective ways to improve the performance of large language models (LLMs) in downstream tasks. However, SFT can have difficulty generalizing when the underlying data distribution…

3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and…

Reinforcement Learning (RL) has emerged as a transformative approach for aligning and enhancing Large Language Models (LLMs), addressing critical challenges in instruction following, ethical alignment, and reasoning capabilities. This…

Robots equipped with reinforcement learning (RL) have the potential to learn a wide range of skills solely from a reward signal. However, obtaining a robust and dense reward signal for general manipulation tasks remains a challenge.…

Recently DeepSeek R1 has shown that reinforcement learning (RL) can substantially improve the reasoning capabilities of Large Language Models (LLMs) through a simple yet effective design. The core of R1 lies in its rule-based reward…

Reinforcement learning algorithms usually assume that all actions are always available to an agent. However, both people and animals understand the general link between the features of their environment and the actions that are feasible.…

Group Relative Policy Optimization (GRPO), which is widely adopted by R1-like reasoning models, has advanced mathematical reasoning. Nevertheless, GRPO faces challenges in reward sparsity, verbosity, and inadequate focus on problem…

Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where…

Video reasoning segmentation (VRS) endeavors to delineate referred objects in videos guided by implicit instructions that encapsulate human intent and temporal logic. Previous approaches leverage large vision language models (LVLMs) to…

This study investigates the spatial reasoning capabilities of vision-language models (VLMs) through Chain-of-Thought (CoT) prompting and reinforcement learning. We begin by evaluating the impact of different prompting strategies and find…

As the fundamental capability behind decision-making in finance, financial reasoning poses distinct challenges for LLMs. Although reinforcement learning (RL) have boosted generic reasoning, the progress in finance is hindered by the absence…

Reinforcement learning (RL) has emerged as an effective approach for enhancing the reasoning capabilities of large language models (LLMs), especially in scenarios where supervised fine-tuning (SFT) falls short due to limited…

Tabular data serves as the backbone of modern data analysis and scientific research. While Large Language Models (LLMs) fine-tuned via Supervised Fine-Tuning (SFT) have significantly improved natural language interaction with such…

Affordance reasoning provides a principled link between perception and action, yet remains underexplored in surgical robotics, where tissues are highly deformable, compliant, and dynamically coupled with tool motion. We present arg-VU, a…

Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…

Reinforcement learning (RL) is effective in enhancing the accuracy of large language models in complex reasoning tasks. Existing RL policy optimization frameworks rely on final-answer correctness as feedback signals and rarely capture the…