相关论文: SARM: Stage-Aware Reward Modeling for Long Horizon…

Long-horizon robotic manipulation remains challenging for reinforcement learning (RL) because sparse rewards provide limited guidance for credit assignment. Practical policy improvement thus relies on richer intermediate supervision, such…

Long-horizon tasks in robotic manipulation present significant challenges in reinforcement learning (RL) due to the difficulty of designing dense reward functions and effectively exploring the expansive state-action space. However, despite…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…

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…

Existing robot video world models are typically trained with low-level objectives such as reconstruction and perceptual similarity, which are poorly aligned with the capabilities that matter most for robot decision making, including…

In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with deformable objects, such as high-dimensional state spaces,…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Modern paradigms for robot imitation train expressive policy architectures on large amounts of human demonstration data. Yet performance on contact-rich, deformable-object, and long-horizon tasks plateau far below perfect execution, even…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

Learning robot policies using imitation learning requires collecting large amounts of costly action-labeled expert demonstrations, which fundamentally limits the scale of training data. A promising approach to address this bottleneck is to…

Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…