相关论文: Learning Compositional Neural Programs for Continu…

We introduce AutoSpec, a neural network framework for discovering iterative spectral algorithms for large-scale numerical linear algebra and numerical optimization. Our self-supervised models adapt to input operators using coarse spectral…

We introduce KAPSO, a modular framework for autonomous program synthesis and optimization. Given a natural language goal and an evaluation method, KAPSO iteratively performs ideation, code synthesis and editing, execution, evaluation, and…

A big challenge in algorithmic composition is to devise a model that is both easily trainable and able to reproduce the long-range temporal dependencies typical of music. Here we investigate how artificial neural networks can be trained on…

We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the deterministic policy gradient that can operate over continuous action spaces. Using…

The next generation of advanced materials is tending toward increasingly complex compositions. Synthesizing precise composition is time-consuming and becomes exponentially demanding with increasing compositional complexity. An experienced…

We propose a new approach for solving planning problems with a hierarchical structure, fusing reinforcement learning and MPC planning. Our formulation tightly and elegantly couples the two planning paradigms. It leverages reinforcement…

Temporal abstraction is key to scaling up learning and planning in reinforcement learning. While planning with temporally extended actions is well understood, creating such abstractions autonomously from data has remained challenging. We…

A typical way in which a machine acquires knowledge from humans is by programming. Compared to learning from demonstrations or experiences, programmatic learning allows the machine to acquire a novel skill as soon as the program is written,…

Compositional Natural Language Inference has been explored to assess the true abilities of neural models to perform NLI. Yet, current evaluations assume models to have full access to all primitive inferences in advance, in contrast to…

The problem of retrosynthetic planning can be framed as one player game, in which the chemist (or a computer program) works backwards from a molecular target to simpler starting materials though a series of choices regarding which reactions…

This paper presents a robust Model Predictive Control (MPC) scheme that provides offset-free setpoint tracking for systems described by Neural Nonlinear AutoRegressive eXogenous (NNARX) models. The NNARX model learns the dynamics of the…

Offline Goal-Conditioned Reinforcement Learning seeks to train agents to reach specified goals from previously collected trajectories. Scaling that promises to long-horizon tasks remains challenging, notably due to compounding…

This paper proposes a general incremental policy iteration adaptive dynamic programming (ADP) algorithm for model-free robust optimal control of unknown nonlinear systems. The approach integrates recursive least squares estimation with…

Reinforcement learning has shown promising results in learning neural network policies for complicated control tasks. However, the lack of formal guarantees about the behavior of such policies remains an impediment to their deployment. We…

We study the problem of optimal state-feedback tracking control for unknown discrete-time deterministic systems with input constraints. To handle input constraints, state-of-art methods utilize a certain nonquadratic stage cost function,…

This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning. Previous methods primarily rely on hand-engineering or learning generators for specific constraint…

We study how to learn a policy with compositional generalizability. We propose a two-stage framework, which refactorizes a high-reward teacher policy into a generalizable student policy with strong inductive bias. Particularly, we implement…

Combining learned policies in a prioritized, ordered manner is desirable because it allows for modular design and facilitates data reuse through knowledge transfer. In control theory, prioritized composition is realized by null-space…

Learning optimal feedback control laws capable of executing optimal trajectories is essential for many robotic applications. Such policies can be learned using reinforcement learning or planned using optimal control. While reinforcement…

When learning policies for real-world domains, two important questions arise: (i) how to efficiently use pre-collected off-policy, non-optimal behavior data; and (ii) how to mediate among different competing objectives and constraints. We…