相关论文: Option Discovery in Hierarchical Reinforcement Lea…

Attempts of learning from hierarchical taxonomies in computer vision have been mostly focusing on image classification. Though ways of best harvesting learning improvements from hierarchies in classification are far from being solved, there…

A comprehensive and explicit understanding of surgical scenes plays a vital role in developing context-aware computer-assisted systems in the operating theatre. However, few works provide systematical analysis to enable hierarchical…

This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…

Reinforcement Learning (RL) has proven highly effective at enhancing the complex reasoning abilities of Large Language Models (LLMs), yet underlying mechanisms driving this success remain largely opaque. Our analysis reveals that puzzling…

In order to learn quickly with few samples, meta-learning utilizes prior knowledge learned from previous tasks. However, a critical challenge in meta-learning is task uncertainty and heterogeneity, which can not be handled via globally…

This work presents a Hierarchical Multi-Agent Reinforcement Learning framework for analyzing simulated air combat scenarios involving heterogeneous agents. The objective is to identify effective Courses of Action that lead to mission…

Learning composable policies for environments with complex rules and tasks is a challenging problem. We introduce a hierarchical reinforcement learning framework called the Logical Options Framework (LOF) that learns policies that are…

We study building multi-task agents in open-world environments. Without human demonstrations, learning to accomplish long-horizon tasks in a large open-world environment with reinforcement learning (RL) is extremely inefficient. To tackle…

In today's rapidly evolving military landscape, advancing artificial intelligence (AI) in support of wargaming becomes essential. Despite reinforcement learning (RL) showing promise for developing intelligent agents, conventional RL faces…

Fast and reliable state estimation and tracking are essential for real-time situation awareness in Cyber-Physical Systems (CPS) operating in tactical environments or complicated civilian environments. Traditional centralized solutions do…

General-purpose robotic systems must master a large repertoire of diverse skills to be useful in a range of daily tasks. While reinforcement learning provides a powerful framework for acquiring individual behaviors, the time needed to…

Task allocation is a key combinatorial optimization problem, crucial for modern applications such as multi-robot cooperation and resource scheduling. Decision makers must allocate entities to tasks reasonably across different scenarios.…

In many real-world scenarios, such as gas leak detection or environmental pollutant tracking, solving the Inverse Source Localization and Characterization problem involves navigating complex, dynamic fields with sparse and noisy…

In minimally invasive surgery, surgical workflow segmentation from video analysis is a well studied topic. The conventional approach defines it as a multi-class classification problem, where individual video frames are attributed a surgical…

We investigate active learning by pairwise similarity over the leaves of trees originating from hierarchical clustering procedures. In the realizable setting, we provide a full characterization of the number of queries needed to achieve…

Hierarchical methods in reinforcement learning have the potential to reduce the amount of decisions that the agent needs to perform when learning new tasks. However, finding reusable useful temporal abstractions that facilitate fast…

We introduce the Adaptive Skills, Adaptive Partitions (ASAP) framework that (1) learns skills (i.e., temporally extended actions or options) as well as (2) where to apply them. We believe that both (1) and (2) are necessary for a truly…

We propose a method to systematically represent both the static and the dynamic components of environments, i.e. objects and agents, as well as the changes that are happening in the environment, i.e. the actions and skills performed by…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

Self-supervised learning (SSL), as a newly emerging unsupervised representation learning paradigm, generally follows a two-stage learning pipeline: 1) learning invariant and discriminative representations with auto-annotation pretext(s),…