Related papers: Merging Decision Transformers: Weight Averaging fo…

Model merging aims to integrate multiple task-specific fine-tuned models derived from a shared pre-trained checkpoint into a single multi-task model without additional training. Despite extensive research, task interference remains a major…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

Model-free reinforcement learning algorithms can compute policy gradients given sampled environment transitions, but require large amounts of data. In contrast, model-based methods can use the learned model to generate new data, but model…

Transfer and multi-task learning have traditionally focused on either a single source-target pair or very few, similar tasks. Ideally, the linguistic levels of morphology, syntax and semantics would benefit each other by being trained in a…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…

In multi-agent reinforcement learning, centralized training with decentralized execution (CTDE) methods typically assume that agents make decisions based on their local observations independently, which may not lead to a correlated joint…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Many dynamic decision problems, such as robotic control, involve a series of tasks, many of which are unknown at training time. Typical approaches for these problems, such as multi-task and meta reinforcement learning, do not generalize…

Foundation models are a promising path toward general-purpose and user-friendly robots. The prevalent approach involves training a generalist policy that, like a reinforcement learning policy, uses observations to output actions. Although…

Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously…

An approach to distributed machine learning is to train models on local datasets and aggregate these models into a single, stronger model. A popular instance of this form of parallelization is federated learning, where the nodes…

Model merging has attracted significant attention as a powerful paradigm for model reuse, facilitating the integration of task-specific models into a singular, versatile framework endowed with multifarious capabilities. Previous studies,…

Model merging efficiently aggregates capabilities from multiple fine-tuned models into a single one, operating purely in parameter space without original data or expensive re-computation. Despite empirical successes, a unified theory for…

Since the Fourth Industrial Revolution, AI technology has been widely used in many fields, but there are several limitations that need to be overcome, including overfitting/underfitting, class imbalance, and the limitations of…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

Model merging aims to integrate the strengths of multiple fine-tuned models into a unified model while preserving task-specific capabilities. Existing methods, represented by task arithmetic, are typically classified into global- and…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

The purpose of multi-task reinforcement learning (MTRL) is to train a single policy that can be applied to a set of different tasks. Sharing parameters allows us to take advantage of the similarities among tasks. However, the gaps between…