相关论文: Mean Flow Policy with Instantaneous Velocity Const…

Long-term activity forecasting is an especially challenging research problem because it requires understanding the temporal relationships between observed actions, as well as the variability and complexity of human activities. Despite…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Traditional Reinforcement Learning (RL) policies are typically implemented with fixed control rates, often disregarding the impact of control rate selection. This can lead to inefficiencies as the optimal control rate varies with task…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Reinforcement learning (RL) shows great potential in sequential decision-making. At present, mainstream RL algorithms are data-driven, which usually yield better asymptotic performance but much slower convergence compared with model-driven…

Reinforcement learning based post-training paradigms for Video Large Language Models (VideoLLMs) have achieved significant success by optimizing for visual-semantic tasks such as captioning or VideoQA. However, while these approaches…

Policy-based algorithms are among the most widely adopted techniques in model-free RL, thanks to their strong theoretical groundings and good properties in continuous action spaces. Unfortunately, these methods require precise and…

Recent advances in deep generative models demonstrate unprecedented zero-shot generalization capabilities, offering great potential for robot manipulation in unstructured environments. Given a partial observation of a scene, deep generative…

We introduce a new framework that performs decision-making in reinforcement learning (RL) as an iterative reasoning process. We model agent behavior as the steady-state distribution of a parameterized reasoning Markov chain (RMC), optimized…

Vision-Language-Action (VLA) models have emerged as a unified paradigm for robotic perception and control, enabling emergent generalization and long-horizon task execution. However, their deployment in dynamic, real-world environments is…

Vision-language navigation (VLN) requires an agent to execute actions following human instructions. Existing VLN models are optimized through expert demonstrations by supervised behavioural cloning or incorporating manual reward…

We propose an iterative approach for designing Robust Learning Model Predictive Control (LMPC) policies for a class of nonlinear systems with additive, unmodelled dynamics. The nominal dynamics are assumed to be difference flat, i.e., the…

Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However, the safety of generated motions remains overlooked,…

Diffusion and flow matching (FM) models have achieved remarkable progress in speech enhancement (SE), yet their dependence on multi-step generation is computationally expensive and vulnerable to discretization errors. Recent advances in…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Action-constrained reinforcement learning (ACRL) is a popular approach for solving safety-critical and resource-allocation related decision making problems. A major challenge in ACRL is to ensure agent taking a valid action satisfying…

Reinforcement Learning with Verifiable Rewards (RLVR) is an essential paradigm that enhances the reasoning capabilities of Large Language Models (LLMs). However, existing methods typically rely on static policy optimization schemes that…

This paper proposes a safe reinforcement learning (RL) framework based on forward-invariance-induced action-space design. The control problem is cast as a Markov decision process, but instead of relying on runtime shielding or penalty-based…

We present Functional Mean Flow (FMF) as a one-step generative model defined in infinite-dimensional Hilbert space. FMF extends the one-step Mean Flow framework to functional domains by providing a theoretical formulation for Functional…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…