相关论文: Human-in-the-loop Online Rejection Sampling for Ro…

Reinforcement Learning (RL) bears the promise of being a game-changer in many applications. However, since most of the literature in the field is currently focused on opaque models, the use of RL in high-stakes scenarios, where…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

Recent successes combine reinforcement learning algorithms and deep neural networks, despite reinforcement learning not being widely applied to robotics and real world scenarios. This can be attributed to the fact that current…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…

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…

This paper presents PRISM: an instruction-conditioned refinement method for imitation policies in robotic manipulation. This approach bridges Imitation Learning (IL) and Reinforcement Learning (RL) frameworks into a seamless pipeline, such…

Due to the limited smartness and abilities of machine intelligence, currently autonomous vehicles are still unable to handle all kinds of situations and completely replace drivers. Because humans exhibit strong robustness and adaptability…

We study how vision-language-action (VLA) models can improve through real-world deployments via reinforcement learning (RL). We present a general-purpose method, RL with Experience and Corrections via Advantage-conditioned Policies (RECAP),…

Reinforcement learning (RL) has emerged as a promising strategy for finetuning small language models (SLMs) to solve targeted tasks such as math and coding. However, RL algorithms tend to be resource-intensive, taking a significant amount…

Despite the significant advancements, existing object removal methods struggle with incomplete removal, incorrect content synthesis and blurry synthesized regions, resulting in low success rates. Such issues are mainly caused by the lack of…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely difficult due their inability to capture human intent and…

Inverse reinforcement learning (IRL) is an imitation learning approach to learning reward functions from expert demonstrations. Its use avoids the difficult and tedious procedure of manual reward specification while retaining the…

Reinforcement learning (RL) is a type of artificial intelligence for making optimal choices. In healthcare, researchers generally use offline RL (ORL), where models are trained and evaluated from retrospective observational data. To…

Large Reasoning Models (LRMs) demonstrate strong performance in complex tasks but often face the challenge of overthinking, leading to substantially high inference costs. Existing approaches synthesize shorter reasoning responses for LRMs…

Implicit Human-in-the-Loop Reinforcement Learning (HITL-RL) is a methodology that integrates passive human feedback into autonomous agent training while minimizing human workload. However, existing methods often rely on active instruction,…

Persuasion dialogue systems reflect the machine's ability to make strategic moves beyond verbal communication, and therefore differentiate themselves from task-oriented or open-domain dialogue systems and have their own unique values.…

Reinforcement learning (RL) is a powerful paradigm for learning to make sequences of decisions. However, RL has yet to be fully leveraged in robotics, principally due to its lack of scalability. Offline RL offers a promising avenue by…