相关论文: RELO: Reinforcement Learning to Localize for Visua…

Multimodal Large Language Models (MLLMs) have increasingly localized and interleaved visual evidence for deliberative reasoning. Grounding-based approaches typically focus on regions of interest (RoIs) by injecting cropped image patches or…

Heuristic algorithms such as simulated annealing, Concorde, and METIS are effective and widely used approaches to find solutions to combinatorial optimization problems. However, they are limited by the high sample complexity required to…

The success of Reinforcement Learning (RL) heavily relies on the ability to learn robust representations from the observations of the environment. In most cases, the representations learned purely by the reinforcement learning loss can…

In this paper, we study the problem of obtaining a control policy that can mimic and then outperform expert demonstrations in Markov decision processes where the reward function is unknown to the learning agent. One main relevant approach…

Existing research studies on vision and language grounding for robot navigation focus on improving model-free deep reinforcement learning (DRL) models in synthetic environments. However, model-free DRL models do not consider the dynamics in…

Learning robot manipulation through deep reinforcement learning in environments with sparse rewards is a challenging task. In this paper we address this problem by introducing a notion of imaginary object goals. For a given manipulation…

Large Vision-Language Models (LVLMs) have become powerful general-purpose assistants, yet their predictions often lack reliability and interpretability due to insufficient grounding in visual evidence. The emerging thinking-with-images…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

Training robust and generalizable reward models for human visual preferences is essential for aligning text-to-image and text-to-video generative models with human intent. However, current reward models often fail to generalize, and…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

Most existing approaches to training object detectors rely on fully supervised learning, which requires the tedious manual annotation of object location in a training set. Recently there has been an increasing interest in developing weakly…

Reinforcement learning (RL) algorithms are designed to optimize problem-solving by learning actions that maximize rewards, a task that becomes particularly challenging in random and nonstationary environments. Even advanced RL algorithms…

Over the recent years, Reinforcement Learning combined with Deep Learning techniques has successfully proven to solve complex problems in various domains, including robotics, self-driving cars, and finance. In this paper, we are introducing…

It is a long-standing question to discover causal relations among a set of variables in many empirical sciences. Recently, Reinforcement Learning (RL) has achieved promising results in causal discovery from observational data. However,…

Weakly Supervised Object Localization (WSOL) methods only require image level labels as opposed to expensive bounding box annotations required by fully supervised algorithms. We study the problem of learning localization model on target…

After learning a new object category from image-level annotations (with no object bounding boxes), humans are remarkably good at precisely localizing those objects. However, building good object localizers (i.e., detectors) currently…