相关论文: Pre-trained Visual Representations Generalize Wher…

Visual Reinforcement Learning (RL) methods often require extensive amounts of data. As opposed to model-free RL, model-based RL (MBRL) offers a potential solution with efficient data utilization through planning. Additionally, RL lacks…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

Humans can quickly learn new behaviors by leveraging background world knowledge. In contrast, agents trained with reinforcement learning (RL) typically learn behaviors from scratch. We thus propose a novel approach that uses the vast…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Reinforcement learning (RL) solves sequential decision-making problems via a trial-and-error process interacting with the environment. While RL achieves outstanding success in playing complex video games that allow huge trial-and-error,…

This paper is concerned with multi-view reinforcement learning (MVRL), which allows for decision making when agents share common dynamics but adhere to different observation models. We define the MVRL framework by extending partially…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Model-based Reinforcement Learning (MBRL) allows data-efficient learning which is required in real world applications such as robotics. However, despite the impressive data-efficiency, MBRL does not achieve the final performance of…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Model-based reinforcement learning (MBRL) is believed to have much higher sample efficiency compared to model-free algorithms by learning a predictive model of the environment. However, the performance of MBRL highly relies on the quality…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Recent years have seen the emergence of pre-trained representations as a powerful abstraction for AI applications in computer vision, natural language, and speech. However, policy learning for control is still dominated by a tabula-rasa…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Learning from previously collected data via behavioral cloning or offline reinforcement learning (RL) is a powerful recipe for scaling generalist agents by avoiding the need for expensive online learning. Despite strong generalization in…

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…

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…

Visual reinforcement learning (RL) has made significant progress in recent years, but the choice of visual feature extractor remains a crucial design decision. This paper compares the performance of RL algorithms that train a convolutional…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…