相关论文: Controlling Multimodal Conversational Agents with …

Conversational shopping agents represent a critical consumer-facing application of Large Language Model (LLM)-powered agents, yet how to effectively apply post-training Reinforcement Learning (RL) to optimize such agents remains…

Defining action spaces for conversational agents and optimizing their decision-making process with reinforcement learning is an enduring challenge. Common practice has been to use handcrafted dialog acts, or the output vocabulary, e.g. in…

Multi-Agent Reinforcement Learning (MARL) methods have shown promise in enabling agents to learn a shared communication protocol from scratch and accomplish challenging team tasks. However, the learned language is usually not interpretable…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

Recent studies in multi-agent communicative reinforcement learning (MACRL) have demonstrated that multi-agent coordination can be greatly improved by allowing communication between agents. Meanwhile, adversarial machine learning (ML) has…

Recent advancements in Multimodal Large Language Models (MLLMs) have incentivized models to ``think with images'' by actively invoking visual tools during multi-turn reasoning. The common Reinforcement Learning (RL) practice of relying on…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

This paper introduces a novel reinforcement learning (RL) strategy designed to facilitate rapid autonomy transfer by utilizing pre-trained critic value functions from multiple environments. Unlike traditional methods that require extensive…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

We consider model-based reinforcement learning (MBRL) in 2-agent, high-fidelity continuous control problems -- an important domain for robots interacting with other agents in the same workspace. For non-trivial dynamical systems, MBRL…

We consider the problem of robust multi-agent reinforcement learning (MARL) for cooperative communication and coordination tasks. MARL agents, mainly those trained in a centralized way, can be brittle because they can adopt policies that…

In this paper, we extended the method proposed in [21] to enable humans to interact naturally with autonomous agents through vocal and textual conversations. Our extended method exploits the inherent capabilities of pre-trained large…

General-purpose control demands agents that act across many tasks and embodiments, yet research on reinforcement learning (RL) for continuous control remains dominated by single-task or offline regimes, reinforcing a view that online RL…

Multimodal Large Language Models (MLLMs) have significantly improved performance across various image-language applications. Recently, there has been a growing interest in adapting image pre-trained MLLMs for video-related tasks. However,…

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the…

Only limited studies and superficial evaluations are available on agents' behaviors and roles within a Multi-Agent System (MAS). We simulate a MAS using Reinforcement Learning (RL) in a pursuit-evasion (a.k.a predator-prey pursuit) game,…

Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement…

Recent work, spanning from autonomous vehicle coordination to in-space assembly, has shown the importance of learning collaborative behavior for enabling robots to achieve shared goals. A common approach for learning this cooperative…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

A generalist robotic policy needs both semantic understanding for task planning and the ability to interact with the environment through predictive capabilities. To tackle this, we present MM-ACT, a unified Vision-Language-Action (VLA)…