相关论文: AdaPower: Specializing World Foundation Models for…

Foundation models leverage large-scale pretraining to capture extensive knowledge, demonstrating generalization in a wide range of language tasks. By comparison, vision foundation models (VFMs) often exhibit uneven improvements across…

Various world model frameworks are being developed today based on autoregressive frameworks that rely on discrete representations of actions and observations, and these frameworks are succeeding in constructing interactive generative models…

A world model creates a surrogate world to train a controller and predict safety violations by learning the internal dynamic model of systems. However, the existing world models rely solely on statistical learning of how observations change…

Recent endeavors towards directly using large language models (LLMs) as agent models to execute interactive planning tasks have shown commendable results. Despite their achievements, however, they still struggle with brainless…

World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity RGB video prediction, this can result…

A natural approach for reinforcement learning is to predict future rewards by unrolling a neural network world model, and to backpropagate through the resulting computational graph to learn a policy. However, this method often becomes…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

The development of tabular foundation models (TFMs) has accelerated in recent years, showing strong potential to outperform traditional ML methods for structured data. A key finding is that TFMs can be pretrained entirely on synthetic…

Time series foundation models (FMs) have emerged as a popular paradigm for zero-shot multi-domain forecasting. These models are trained on numerous diverse datasets and claim to be effective forecasters across multiple different time series…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

Learning predictive world models from raw visual observations is a central challenge in reinforcement learning (RL), especially for robotics and continuous control. Conventional model-based RL frameworks directly condition future…

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…

In dynamic environments such as warehouses, hospitals, and homes, robots must seamlessly transition between gross motion and precise manipulations to complete complex tasks. However, current Vision-Language-Action (VLA) frameworks, largely…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

World models, which predict future transitions from past observation and action sequences, have shown great promise for improving data efficiency in sequential decision-making. However, existing world models often require extensive…

Foundation models have demonstrated remarkable generalization, data efficiency, and robustness properties across various domains. In this paper, we explore the feasibility of foundation models for applications in the control domain. The…

World models represent a promising approach for training reinforcement learning agents with significantly improved sample efficiency. While most world model methods primarily rely on sequences of discrete latent variables to model…

A World Model is a compressed spatial and temporal representation of a real world environment that allows one to train an agent or execute planning methods. However, world models are typically trained on observations from the real world…