4 papers
Learning from Demonstrations via Capability-Aware Goal Sampling
Yuanlin Duan, Yuning Wang, Wenjie Qiu +1
Despite its promise, imitation learning often fails in long-horizon environments where perfect replication of demonstrations is unrealistic and small errors can accumulate catastro…
OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and Embodiment-aware Reasoning
Yuecheng Liu, Dafeng Chi, Shiguang Wu +10
Recent advances in multimodal large language models (MLLMs) have opened new opportunities for embodied intelligence, enabling multimodal understanding, reasoning, and interaction,…
Learning World Models for Unconstrained Goal Navigation
Yuanlin Duan, Wensen Mao, He Zhu
Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without dir…
Exploring the Edges of Latent State Clusters for Goal-Conditioned Reinforcement Learning
Yuanlin Duan, Guofeng Cui, He Zhu
Exploring unknown environments efficiently is a fundamental challenge in unsupervised goal-conditioned reinforcement learning. While selecting exploratory goals at the frontier of…