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

Continual learning requires the model to learn multiple tasks sequentially. In continual learning, the model should possess the ability to maintain its performance on old tasks (stability) and the ability to adapt to new tasks continuously…

Large language models are typically post-trained using supervised fine-tuning (SFT) and reinforcement learning (RL), yet effectively unifying efficient knowledge injection with robust generalization remains challenging. In this work, we…

A common challenge towards the adaptability of Large Language Models (LLMs) is their ability to learn new languages over time without hampering the model's performance on languages in which the model is already proficient (usually English).…

Vision-Language-Action (VLA) models based on flow matching have shown excellent performance in general-purpose robotic manipulation tasks. However, the action accuracy of these models on complex downstream tasks is unsatisfactory. One…

Supervised fine-tuning (SFT) of foundation models often leads to poor generalization, where prior capabilities deteriorate after tuning on new tasks or domains. Inspired by trust-region policy optimization (TRPO) and proximal policy…

Reinforcement Learning (RL) has played a central role in the recent surge of LLMs' math abilities by enabling self-improvement through binary verifier signals. In contrast, Supervised Learning (SL) is rarely considered for such…

While recent advances in Reinforcement Fine-Tuning (RFT) have shown that rule-based reward schemes can enable effective post-training for large language models, their extension to cross-modal, vision-centric domains remains largely…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions. Despite their recent advancements,…

Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…

Language models trained with reinforcement learning (RL) can engage in reward hacking--the exploitation of unintended strategies for high reward--without revealing this behavior in their chain-of-thought reasoning. This makes the detection…

Reinforcement learning (RL) is a promising avenue for post-training vision-language-action (VLA) models, but practical deployment is hindered by sparse rewards and unstable training. This work mitigates these challenges by introducing an…

Supervised fine-tuning (SFT) is a critical step in aligning large language models (LLMs) with human instructions and values, yet many aspects of SFT remain poorly understood. We trained a wide range of base models on a variety of datasets…

Aligning Diffusion models has achieved remarkable breakthroughs in generating high-quality, human preference-aligned images. Existing techniques, such as supervised fine-tuning (SFT) and DPO-style preference optimization, have become…

Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with…

Generalist robot policies increasingly benefit from large-scale pretraining, but offline data alone is insufficient for robust real-world deployment. Deployed robots encounter distribution shifts, long-tail failures, task variations, and…

Red teaming has proven to be an effective method for identifying and mitigating vulnerabilities in Large Language Models (LLMs). Reinforcement Fine-Tuning (RFT) has emerged as a promising strategy among existing red teaming techniques.…

Though significant advancements have been achieved in developing long-context large language models (LLMs), the compromised quality of LLM-synthesized data for supervised fine-tuning (SFT) often affects the long-context performance of SFT…

Large Vision-Language-Action (VLA) models, leveraging powerful pre trained Vision-Language Models (VLMs) backends, have shown promise in robotic control due to their impressive generalization ability. However, the success comes at a cost.…

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…

Lifelong Reinforcement Learning (LRL) holds significant potential for addressing sequential tasks, but it still faces considerable challenges. A key difficulty lies in effectively preventing catastrophic forgetting and facilitating…