相关论文: Embed to Control: A Locally Linear Latent Dynamics…

Embed-to-control (E2C) is a model for solving high-dimensional optimal control problems by combining variational auto-encoders with locally-optimal controllers. However, the E2C model suffers from two major drawbacks: 1) its objective…

High-dimensional observations and unknown dynamics are major challenges when applying optimal control to many real-world decision making tasks. The Learning Controllable Embedding (LCE) framework addresses these challenges by embedding the…

The global push to advance Carbon Capture and Sequestration initiatives and green energy solutions, such as geothermal, have thrust new demands upon the current state-of-the-art subsurface fluid simulators. The requirement to be able to…

Recent deep generative models are able to provide photo-realistic images as well as visual or textual content embeddings useful to address various tasks of computer vision and natural language processing. Their usefulness is nevertheless…

A major challenge in modern reinforcement learning (RL) is efficient control of dynamical systems from high-dimensional sensory observations. Learning controllable embedding (LCE) is a promising approach that addresses this challenge by…

Understating and controlling generative models' latent space is a complex task. In this paper, we propose a novel method for learning to control any desired attribute in a pre-trained GAN's latent space, for the purpose of editing…

Learning to control complex systems using non-traditional feedback, e.g., in the form of snapshot images, is an important task encountered in diverse domains such as robotics, neuroscience, and biology (cellular systems). In this paper, we…

Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…

In this paper, we derive a novel method as a generalization over LCEs such as E2C. The method develops the idea of learning a locally linear state space, by adding a multi-step prediction, thus allowing for more explicit control over the…

Reduced-order models, also known as proxy model or surrogate model, are approximate models that are less computational expensive as opposed to fully descriptive models. With the integration of machine learning, these models have garnered…

Diffusion models emerged as a leading approach in text-to-image generation, producing high-quality images from textual descriptions. However, attempting to achieve detailed control to get a desired image solely through text remains a…

We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods…

Recent advances in latent space dynamics model from pixels show promising progress in vision-based model predictive control (MPC). However, executing MPC in real time can be challenging due to its intensive computational cost in each…

Unified multimodal models can encode visual understanding and image generation within a shared backbone, yet understanding does not automatically translate into control: models may infer objects, relations, or knowledge cues but fail to…

Humans excel in continuously learning with small data without forgetting how to solve old problems. However, neural networks require large datasets to compute latent representations across different tasks while minimizing a loss function.…

We propose a novel training-free image generation algorithm that precisely controls the occlusion relationships between objects in an image. Existing image generation methods typically rely on prompts to influence occlusion, which often…

Reinforcement learning in partially observed Markov decision processes (POMDPs) faces two challenges. (i) It often takes the full history to predict the future, which induces a sample complexity that scales exponentially with the horizon.…

We present a methodology to learn explicit Model Predictive Control (eMPC) laws from sample data points with tunable complexity. The learning process is cast in a special Neural Network setting where the coefficients of two linear layers…

In this paper we introduce plan2vec, an unsupervised representation learning approach that is inspired by reinforcement learning. Plan2vec constructs a weighted graph on an image dataset using near-neighbor distances, and then extrapolates…

The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…