35 papers
Model-Free Adaptive Parameter Tuning for Efficient Multi-Robot Warehouse Operations
Pratap Tokekar, Mouhacine Benosman, Rahul Chandan +3
Robotic Fulfillment Centers (FCs) store inventory on shelves (pods) arranged in dense blocks. Retrieving a target pod that is buried deep in a block requires moving obstructing pod…
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Kasra Torshizi, Anukriti Singh, Sidharth Mathur +3
Vision-language-action (VLA) models have shown impressive generalization, but often lack interpretability and can struggle to follow precise natural language instructions that enco…
Dual-Uncertainty Guided Policy Learning for Multimodal Reasoning
Rui Liu, Dian Yu, Tong Zheng +8
Reinforcement learning with verifiable rewards (RLVR) has advanced reasoning capabilities in multimodal large language models. However, existing methods typically treat visual inpu…
DeltaRubric: Generative Multimodal Reward Modeling via Joint Planning and Verification
Rui Liu, Dian Yu, Zhenwen Liang +6
Aligning Multimodal Large Language Models (MLLMs) requires reliable reward models, yet existing single-step evaluators can suffer from lazy judging, exploiting language priors over…
Reinforcing Multimodal Reasoning Against Visual Degradation
Rui Liu, Dian Yu, Haolin Liu +6
Reinforcement Learning has significantly advanced the reasoning capabilities of Multimodal Large Language Models (MLLMs), yet the resulting policies remain brittle against real-wor…
Zero Shot Coordination for Sparse Reward Tasks with Diverse Reward Shapings
Keenan Powell, Peihong Yu, Pratap Tokekar
Many Multi-Agent Reinforcement Learning (MARL) agents fail to adapt properly to cooperating with agents trained with the same objectives but different seeds, algorithms, or other t…