相关论文: Dynamic Horizon Value Estimation for Model-based R…

Model-based reinforcement learning is one approach to increase sample efficiency. However, the accuracy of the dynamics model and the resulting compounding error over modelled trajectories are commonly regarded as key limitations. A natural…

Model-based reinforcement learning aims to increase sample efficiency, but the accuracy of dynamics models and the resulting compounding errors are often seen as key limitations. This paper empirically investigates potential sample…

Recent model-free reinforcement learning algorithms have proposed incorporating learned dynamics models as a source of additional data with the intention of reducing sample complexity. Such methods hold the promise of incorporating imagined…

Training deep reinforcement learning agents on environments with multiple levels / scenes / conditions from the same task, has become essential for many applications aiming to achieve generalization and domain transfer from simulation to…

By integrating dynamics models into model-free reinforcement learning (RL) methods, model-based value expansion (MVE) algorithms have shown a significant advantage in sample efficiency as well as value estimation. However, these methods…

Model-based reinforcement learning (RL) offers a compelling approach to offline RL by enabling value learning on imagined on-policy trajectories. However, it often suffers from compounding errors due to repeated model inference on…

Recently, video-based world models that learn to simulate the dynamics have gained increasing attention in robot learning. However, current approaches primarily emphasize visual generative quality while overlooking physical fidelity,…

We introduce a new task called Defeasible Visual Entailment (DVE), where the goal is to allow the modification of the entailment relationship between an image premise and a text hypothesis based on an additional update. While this concept…

Detecting anomalies in multivariate time series is essential for monitoring complex industrial systems, where high dimensionality, limited labeled data, and subtle dependencies between sensors cause significant challenges. This paper…

To control a dynamical system it is essential to obtain an accurate estimate of the current system state based on uncertain sensor measurements and existing system knowledge. An optimization-based moving horizon estimation (MHE) approach…

We present one of the first algorithms on model based reinforcement learning and trajectory optimization with free final time horizon. Grounded on the optimal control theory and Dynamic Programming, we derive a set of backward differential…

A promising way to improve the sample efficiency of reinforcement learning is model-based methods, in which many explorations and evaluations can happen in the learned models to save real-world samples. However, when the learned model has a…

Dynamic environments require adaptive applications. One particular machine learning problem in dynamic environments is open world recognition. It characterizes a continuously changing domain where only some classes are seen in one batch of…

Some of the most powerful reinforcement learning frameworks use planning for action selection. Interestingly, their planning horizon is either fixed or determined arbitrarily by the state visitation history. Here, we expand beyond the naive…

This work shows that value-aware model learning, known for its numerous theoretical benefits, is also practically viable for solving challenging continuous control tasks in prevalent model-based reinforcement learning algorithms. First, we…

Model-based reinforcement learning promises to learn an optimal policy from fewer interactions with the environment compared to model-free reinforcement learning by learning an intermediate model of the environment in order to predict…

Model-based value expansion methods promise to improve the quality of value function targets and, thereby, the effectiveness of value function learning. However, to date, these methods are being outperformed by Dyna-style algorithms with…

World models predict state transitions in response to actions and are increasingly developed across diverse modalities. However, standard training objectives such as maximum likelihood estimation (MLE) often misalign with task-specific…

Estimating and reacting to external disturbances is of fundamental importance for robust control of quadrotors. Existing estimators typically require significant tuning or training with a large amount of data, including the ground truth, to…

This paper provides an approximate online adaptive solution to the infinite-horizon optimal tracking problem for control-affine continuous-time nonlinear systems with unknown drift dynamics. Model-based reinforcement learning is used to…