相关论文: Towards Long-Lived Robots: Continual Learning VLA …

Reinforcement Fine-Tuning (RFT) is proved to be greatly valuable for enhancing the reasoning ability of LLMs. Researchers have been starting to apply RFT to MLLMs, hoping it will also enhance the capabilities of visual understanding.…

Advanced reasoning in LLMs on challenging domains like mathematical reasoning can be tackled using verifiable rewards based reinforced fine-tuning (ReFT). In standard ReFT frameworks, a behavior model generates multiple completions with…

Large Vision-Language Models (LVLMs) have recently shown great promise in advancing robotics by combining embodied reasoning with robot control. A common approach involves training on embodied reasoning tasks related to robot control using…

Vision-language-action (VLA) models inherit rich visual-semantic priors from pre-trained vision-language backbones, but adapting them to robotic control remains challenging. Full fine-tuning (FFT) is prone to overfitting on downstream…

Large language models are increasingly adapted to downstream tasks through fine-tuning. Full supervised fine-tuning (SFT) and parameter-efficient fine-tuning (PEFT) methods, such as Low-Rank Adaptation (LoRA), are two dominant approaches.…

This study evaluates two leading approaches for teaching construction robots new skills to understand their applicability for construction automation: a Vision-Language-Action (VLA) model and Reinforcement Learning (RL) methods. The goal is…

While Supervised Fine-Tuning (SFT) and Rejection Sampling Fine-Tuning (RFT) are standard for LLM alignment, they either rely on costly expert data or discard valuable negative samples, leading to data inefficiency. To address this, we…

Large language models (LLMs) trained via pretraining and supervised fine-tuning (SFT) can still produce harmful and misaligned outputs, or struggle in domains like math and coding. Reinforcement learning (RL)-based post-training methods,…

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…

Recently, reinforcement learning (RL)-based tuning has shifted the trajectory of Multimodal Large Language Models (MLLMs), particularly following the introduction of Group Relative Policy Optimization (GRPO). However, directly applying it…

The growing disparity between the exponential scaling of computational resources and the finite growth of high-quality text data now constrains conventional scaling approaches for large language models (LLMs). To address this challenge, we…

Despite advances in reinforcement learning (RL)-based video reasoning with large language models (LLMs), data collection and fine-tuning remain significant challenges. These methods often rely on large-scale supervised fine-tuning (SFT)…

Large language models (LLMs) can acquire new capabilities through fine-tuning, but continual adaptation often leads to catastrophic forgetting. We propose CRAFT, a continual learning framework that avoids updating model weights by instead…

Large Language Models (LLMs) increasingly rely on Supervised Fine-Tuning (SFT) and Reinforcement Learning from Human Feedback (RLHF) to align model responses with human preferences. While RLHF employs a reinforcement learning approach with…

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…

Intelligent agents should have the ability to leverage knowledge from previously learned tasks in order to learn new ones quickly and efficiently. Meta-learning approaches have emerged as a popular solution to achieve this. However,…

After the pretraining stage of LLMs, techniques such as SFT, RLHF, RLVR, and RFT are applied to enhance instruction-following ability, mitigate undesired responses, improve reasoning capability and enable efficient domain adaptation with…

Fine-tuning pre-trained diffusion and flow models to optimize downstream utilities is central to real-world deployment. Existing entropy-regularized methods primarily maximize expected reward, providing no mechanism to shape tail behavior.…

Aligning human preference and value is an important requirement for contemporary foundation models. State-of-the-art techniques such as Reinforcement Learning from Human Feedback (RLHF) often consist of two stages: 1) supervised fine-tuning…

Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with demonstrations is constrained by data quality, reinforcement…