Related papers: Understanding and Controlling a Maze-Solving Polic…

This paper develops a hierarchical learning and optimization framework that can learn and achieve well-coordinated multi-skill locomotion. The learned multi-skill policy can switch between skills automatically and naturally in tracking…

This paper proposes a novel paradigm centered on Artificial Intelligence (AI)-empowered propagation channel prediction to address the limitations of traditional channel modeling. We present a comprehensive framework that deeply integrates…

A key task in Artificial Intelligence is learning effective policies for controlling agents in unknown environments to optimize performance measures. Off-policy learning methods, like Q-learning, allow learners to make optimal decisions…

The wiring of neurons in the brain is more flexible than the wiring of connections in contemporary artificial neural networks. It is possible that this extra flexibility is important for efficient problem solving and learning. This paper…

In this paper, we consider a population of individuals who have actions and opinions, which coevolve, mutually influencing one another on a complex network structure. In particular, we formulate a control problem for this social network, in…

The ability to observe the effects of actions performed by others and to infer their intent, most likely goals, or course of action, is known as a plan or intention recognition cognitive capability and has long been one of the fundamental…

This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…

Understanding an agent's goals helps explain and predict its behaviour, yet there is no established methodology for reliably attributing goals to agentic systems. We propose a framework for evaluating goal-directedness that integrates…

Deep reinforcement learning includes a broad family of algorithms that parameterise an internal representation, such as a value function or policy, by a deep neural network. Each algorithm optimises its parameters with respect to an…

Neural networks leverage robust internal representations in order to generalise. Learning them is difficult, and often requires a large training set that covers the data distribution densely. We study a common setting where our task is not…

In this paper, we examine the effects of goal representation on the performance and generalization in multi-gait policy learning settings for legged robots. To study this problem in isolation, we cast the policy learning problem as…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Suppose there is an adversarial UAV network being tracked by a radar. How can the radar determine whether the UAVs are coordinating, in some well-defined sense? How can the radar infer the objectives of the individual UAVs and the network…

Many well-trained Convolutional Neural Network(CNN) models have now been released online by developers for the sake of effortless reproducing. In this paper, we treat such pre-trained networks as teachers and explore how to learn a target…

A large body of animation research focuses on optimization of movement control, either as action sequences or policy parameters. However, as closed-form expressions of the objective functions are often not available, our understanding of…

A parameterized skill is a mapping from multiple goals/task parameters to the policy parameters to accomplish them. Existing works in the literature show how a parameterized skill can be learned given a task space that defines all the…

We define and study the problem of predicting the solution to a linear program (LP) given only partial information about its objective and constraints. This generalizes the problem of learning to predict the purchasing behavior of a…

Reinforcement learning has traditionally focused on a singular objective: learning policies that select actions to maximize reward. We challenge this paradigm by asking: what if we explicitly architected RL systems as inference engines that…

From CNNs to attention mechanisms, encoding inductive biases into neural networks has been a fruitful source of improvement in machine learning. Adding auxiliary losses to the main objective function is a general way of encoding biases that…

Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tasks. However, they often fail during deployment due to noisy…