Related papers: Integrating Acting, Planning and Learning in Hiera…

We study the problem of online model selection in reinforcement learning, where the selector has access to a class of reinforcement learning agents and learns to adaptively select the agent with the right configuration. Our goal is to…

In this work we present a preliminary investigation of a novel algorithm called Dyna-T. In reinforcement learning (RL) a planning agent has its own representation of the environment as a model. To discover an optimal policy to interact with…

Retrieval-Augmented Generation (RAG) enables large language models (LLMs) to access broader knowledge sources, yet factual inconsistencies persist due to noise in retrieved documents-even with advanced retrieval methods. We demonstrate that…

Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely…

In question-answering (QA) systems, Retrieval-Augmented Generation (RAG) has become pivotal in enhancing response accuracy and reducing hallucination issues. The architecture of RAG systems varies significantly, encompassing single-round…

Path Planning methods for autonomous control of Unmanned Aerial Vehicle (UAV) swarms are on the rise because of all the advantages they bring. There are more and more scenarios where autonomous control of multiple UAVs is required. Most of…

Modern machine learning algorithms are increasingly computationally demanding, requiring specialized hardware and distributed computation to achieve high performance in a reasonable time frame. Many hyperparameter search algorithms have…

In this paper, we consider a platform of flying mobile edge computing (F-MEC), where unmanned aerial vehicles (UAVs) serve as equipment providing computation resource, and they enable task offloading from user equipment (UE). We aim to…

The idea of reusing or transferring information from previously learned tasks (source tasks) for the learning of new tasks (target tasks) has the potential to significantly improve the sample efficiency of a reinforcement learning agent. In…

Given the growing trend of many organizations integrating Retrieval Augmented Generation (RAG) into their operations, we assess RAG on domain-specific data and test state-of-the-art models across various optimization techniques. We…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Model-Free Reinforcement Learning (RL) algorithms either learn how to map states to expected rewards or search for policies that can maximize a certain performance function. Model-Based algorithms instead, aim to learn an approximation of…

This paper introduces uRAG--a framework with a unified retrieval engine that serves multiple downstream retrieval-augmented generation (RAG) systems. Each RAG system consumes the retrieval results for a unique purpose, such as open-domain…

Multi-agent reinforcement learning focuses on training the behaviors of multiple learning agents that coexist in a shared environment. Recently, MARL models, such as the Multi-Agent Transformer (MAT) and ACtion dEpendent deep Q-learning…

Model-free reinforcement learning methods such as the Proximal Policy Optimization algorithm (PPO) have successfully applied in complex decision-making problems such as Atari games. However, these methods suffer from high variances and high…

Task and motion planning (TAMP) for robotics manipulation necessitates long-horizon reasoning involving versatile actions and skills. While deterministic actions can be crafted by sampling or optimizing with certain constraints, planning…

Although Retrieval-Augmented Large Language Models (RALMs) demonstrate their superiority in terms of factuality, they do not consistently outperform the original retrieval-free Language Models (LMs). Our experiments reveal that this…

Deploying large language model inference remains challenging due to their high computational overhead. Early exit optimizes model inference by adaptively reducing the number of inference layers. Current methods typically train internal…

We present HiDe, a novel hierarchical reinforcement learning architecture that successfully solves long horizon control tasks and generalizes to unseen test scenarios. Functional decomposition between planning and low-level control is…

Retrieval-augmented language models (RALMs) improve performance by accessing long-tail and up-to-date knowledge from external data stores, but are challenging to build. Existing approaches require either expensive retrieval-specific…