相关论文: TOPReward: Token Probabilities as Hidden Zero-Shot…

Vision-language-action (VLA) models represent an important step toward general-purpose robotic systems by integrating visual perception, language understanding, and action execution. However, systematic evaluation of these models,…

Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to design effective reward functions. In this paper, we propose…

Reinforcement learning (RL) is a powerful approach to enhance task-oriented dialogue (TOD) systems. However, existing RL methods tend to mainly focus on generation tasks, such as dialogue policy learning (DPL) or response generation (RG),…

Prompt learning has achieved great success in efficiently exploiting large-scale pre-trained models in natural language processing (NLP). It reformulates the downstream tasks as the generative pre-training ones to achieve consistency, thus…

The state of the arts in vision-language pretraining (VLP) achieves exemplary performance but suffers from high training costs resulting from slow convergence and long training time, especially on large-scale web datasets. An essential…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

Large Vision-Language Models (LVLMs) typically align visual features from an encoder with a pre-trained Large Language Model (LLM). However, this makes the visual perception module a bottleneck, which constrains the overall capabilities of…

Vision-Language-Action (VLA) models have achieved significant breakthroughs by leveraging Large Vision Language Models (VLMs) to jointly interpret instructions and visual inputs. However, the substantial increase in visual tokens,…

The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Models (PRMs) are a promising direction, they are often hindered…

Vision-language models (VLMs) excel in zero-shot recognition but their performance varies greatly across different visual concepts. For example, although CLIP achieves impressive accuracy on ImageNet (60-80%), its performance drops below…

As large language models (LLMs) increasingly interact with external tools, reward modeling for tool use has emerged as a critical yet underexplored area of research. Existing reward models, trained primarily on natural language outputs,…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

For a general-purpose robot to operate in reality, executing a broad range of instructions across various environments is imperative. Central to the reinforcement learning and planning for such robotic agents is a generalizable reward…

Vision-Language-Action (VLA) models have demonstrated strong multi-modal reasoning capabilities, enabling direct action generation from visual perception and language instructions in an end-to-end manner. However, their substantial…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

While text-to-image (T2I) generation models have achieved remarkable progress in recent years, existing evaluation methodologies for vision-language alignment still struggle with the fine-grained semantic matching. Current approaches based…

We introduce Reward-Zero, a general-purpose implicit reward mechanism that transforms natural-language task descriptions into dense, semantically grounded progress signals for reinforcement learning (RL). Reward-Zero serves as a simple yet…

Reinforcement learning (RL) has been proven to be an effective and robust method for training neural machine translation systems, especially when paired with powerful reward models that accurately assess translation quality. However, most…

In recent years, reinforcement learning (RL)-based methods for learning driving policies have gained increasing attention in the autonomous driving community and have achieved remarkable progress in various driving scenarios. However,…

Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit…