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Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…

Standard approaches to sequential decision-making exploit an agent's ability to continually interact with its environment and improve its control policy. However, due to safety, ethical, and practicality constraints, this type of…

Most of the works on planning and learning, e.g., planning by (model based) reinforcement learning, are based on two main assumptions: (i) the set of states of the planning domain is fixed; (ii) the mapping between the observations from the…

Understanding emerging behaviors of reinforcement learning (RL) agents may be difficult since such agents are often trained in complex environments using highly complex decision making procedures. This has given rise to a variety of…

Self-supervised learning (SSL) has recently achieved promising performance for 3D medical image analysis tasks. Most current methods follow existing SSL paradigm originally designed for photographic or natural images, which cannot…

This work aims to improve generalization and interpretability of dynamical systems by recovering the underlying lower-dimensional latent states and their time evolutions. Previous work on disentangled representation learning within the…

In online continual learning (CL), models trained on changing distributions easily forget previously learned knowledge and bias toward newly received tasks. To address this issue, we present Continual Bias Adaptor (CBA), a bi-level…

The importance of explainability in AI has become a pressing concern, for which several explainable AI (XAI) approaches have been recently proposed. However, most of the available XAI techniques are post-hoc methods, which however may be…

Offline inverse reinforcement learning (Offline IRL) aims to recover the structure of rewards and environment dynamics that underlie observed actions in a fixed, finite set of demonstrations from an expert agent. Accurate models of…

Closed-loop learning is the process of repeatedly estimating a model from data generated from the model itself. It is receiving great attention due to the possibility that large neural network models may, in the future, be primarily trained…

As AI becomes more prevalent throughout society, effective methods of integrating humans and AI systems that leverage their respective strengths and mitigate risk have become an important priority. In this paper, we introduce the paradigm…

Model-Based Reinforcement Learning distinguishes between physical dynamics models operating on proprioceptive inputs and latent dynamics models operating on high-dimensional image observations. A prominent latent approach is the Recurrent…

We propose an approach to online model adaptation and control in the challenging case of hybrid and discontinuous dynamics where actions may lead to difficult-to-escape "trap" states, under a given controller. We first learn dynamics for a…

Word-level AutoCompletion(WLAC) is a rewarding yet challenging task in Computer-aided Translation. Existing work addresses this task through a classification model based on a neural network that maps the hidden vector of the input context…

Deep reinforcement learning has proven to be a powerful approach to solving control tasks, but its characteristic high-frequency oscillations make it difficult to apply in real-world environments. While prior methods have addressed action…

Spatial reasoning in partially observable environments has often been approached through passive predictive models, yet theories of embodied cognition suggest that genuinely useful representations arise only when perception is tightly…

Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect the immutable laws of the physical world. Consequently, while these agents…

Role-playing is an emerging application in the field of Human-Computer Interaction (HCI), primarily implemented through the alignment training of a large language model (LLM) with assigned characters. Despite significant progress,…

Standard reinforcement learning (RL) for large language model (LLM) agents typically optimizes extrinsic rewards, prioritizing isolated task completion over continual adaptation. Consequently, agents often converge to suboptimal policies…

Reinforcement learning (RL) can enable task-oriented dialogue systems to steer the conversation towards successful task completion. In an end-to-end setting, a response can be constructed in a word-level sequential decision making process…