4 papers
MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning
Zihao Yu, Xiu Yuan, Chongjie Zhang
Embodied agents accumulate experience over time. We study how accumulated experience can be formed into persistent memory for future reasoning and action. We formulate Embodied Act…
OPRIDE: Offline Preference-based Reinforcement Learning via In-Dataset Exploration
Yiqin Yang, Hao Hu, Yihuan Mao +10
Preference-based reinforcement learning (PbRL) can help avoid sophisticated reward designs and align better with human intentions, showing great promise in various real-world appli…
Translating Flow to Policy via Hindsight Online Imitation
Yitian Zheng, Zhangchen Ye, Weijun Dong +5
Recent advances in hierarchical robot systems leverage a high-level planner to propose task plans and a low-level policy to generate robot actions. This design allows training the…
Learning to Plan Before Answering: Self-Teaching LLMs to Learn Abstract Plans for Problem Solving
Jin Zhang, Flood Sung, Zhilin Yang +2
In the field of large language model (LLM) post-training, the effectiveness of utilizing synthetic data generated by the LLM itself has been well-presented. However, a key question…