Related papers: MoRe-ERL: Learning Motion Residuals using Episodic…

Multi-objective reinforcement learning (MORL) is the generalization of standard reinforcement learning (RL) approaches to solve sequential decision making problems that consist of several, possibly conflicting, objectives. Generally, in…

Precise robot manipulation is critical for fine-grained applications such as chemical and biological experiments, where even small errors (e.g., reagent spillage) can invalidate an entire task. Existing approaches often rely on…

Deep reinforcement learning (DRL) is one promising approach to teaching robots to perform complex tasks. Because methods that directly reuse the stored experience data cannot follow the change of the environment in robotic problems with a…

Compositional generalization in sequential decision-making requires identifying which parts of prior rollouts remain useful for new tasks. Existing methods reuse skills or predictive models, but often overlook rich local transition geometry…

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…

Leveraging Multimodal Large Language Models (MLLMs) has become pivotal for advancing Universal Multimodal Embeddings (UME) in addressing diverse cross-modal tasks. Recent studies demonstrate that incorporating generative Chain-of-Thought…

Wearable exoskeletons can augment human strength and reduce muscle fatigue during specific tasks. However, developing personalized and task-generalizable assistance algorithms remains a critical challenge. To address this, a meta-imitation…

When Reinforcement Learning (RL) agents are deployed in practice, they might impact their environment and change its dynamics. We propose a new framework to model this phenomenon, where the current environment depends on the deployed policy…

Extreme Learning Machines (ELM) provide a fast alternative to traditional gradient-based learning in neural networks, offering rapid training and robust generalization capabilities. Its theoretical basis shows its universal approximation…

We introduce MotionRL, the first approach to utilize Multi-Reward Reinforcement Learning (RL) for optimizing text-to-motion generation tasks and aligning them with human preferences. Previous works focused on improving numerical performance…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

Although Large Audio-Language Models (LALMs) have exhibited outstanding performance in auditory understanding, their performance in affective computing scenarios, particularly in emotion recognition, reasoning, and subtle sentiment…

Recent advances in Reinforcement Learning with Verifiable Rewards (RLVR) have demonstrated significant potential in single-turn reasoning tasks. With the paradigm shift toward self-evolving agentic learning, models are increasingly expected…

Multi-agent reinforcement learning (MARL) faces two critical bottlenecks distinct from single-agent RL: credit assignment in cooperative tasks and partial observability of environmental states. We propose LERO, a framework integrating Large…

Conventional control, such as model-based control, is commonly utilized in autonomous driving due to its efficiency and reliability. However, real-world autonomous driving contends with a multitude of diverse traffic scenarios that are…

Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic decision-making tasks, has emerged as a promising approach to addressing motion planning (MoP) challenges in autonomous driving (AD). Despite…

In this work, we propose a novel approach for reinforcement learning driven by evolutionary computation. Our algorithm, dubbed as Evolutionary-Driven Reinforcement Learning (evo-RL), embeds the reinforcement learning algorithm in an…

Reinforcement learning (RL) in non-stationary environments is challenging, as changing dynamics and rewards quickly make past experiences outdated. Traditional experience replay (ER) methods, especially those using TD-error prioritization,…

Reinforcement learning (RL) has emerged as a crucial approach for enhancing the capabilities of large language models. However, in Mixture-of-Experts (MoE) models, the routing mechanism often introduces instability, even leading to…

We present an open-source Python framework for NeuroEvolution Optimization with Reinforcement Learning (NEORL) developed at the Massachusetts Institute of Technology. NEORL offers a global optimization interface of state-of-the-art…