相关论文: Low-Variance Policy Gradient Estimation with World…

Improving sample efficiency has been a longstanding goal in reinforcement learning. This paper proposes $\mathtt{VRMPO}$ algorithm: a sample efficient policy gradient method with stochastic mirror descent. In $\mathtt{VRMPO}$, a novel…

The capacity of an embodied agent to understand, predict, and interact with its environment is fundamentally contingent on an internal world model. This paper introduces a novel framework for investigating the formation and adaptation of…

We present on-line policy gradient algorithms for computing the locally optimal policy of a constrained, average cost, finite state Markov Decision Process. The stochastic approximation algorithms require estimation of the gradient of the…

Multi-agent path finding (MAPF) is the problem of planning conflict-free paths from the designated start locations to goal positions for multiple agents. It underlies a variety of real-world tasks, including multi-robot coordination,…

Learning energy-based models (EBMs) is known to be difficult especially on discrete data where gradient-based learning strategies cannot be applied directly. Although ratio matching is a sound method to learn discrete EBMs, it suffers from…

We present the Generalized Policy Gradient (GPG) Theorem, specifically designed for Transformer-based policies. Notably, we demonstrate that both standard Policy Gradient Theorem and GRPO emerge as special cases within our GPG framework.…

World models enable agents to predict future dynamics conditioned on actions, making the choice of latent representation central to planning and control. Such representations are often either learned directly from pixels with limited…

We tackle the problem of policy learning from expert demonstrations without a reward function. A central challenge in this space is that these policies fail upon deployment due to issues of distributional shift, environment stochasticity,…

Despite extreme sample inefficiency, on-policy reinforcement learning, aka policy gradients, has become a fundamental tool in decision-making problems. With the recent advances in GPU-driven simulation, the ability to collect large amounts…

We study model-based learning of finite-window policies in tabular partially observable Markov decision processes (POMDPs). A common approach to learning under partial observability is to approximate unbounded history dependencies using…

We study the risk-sensitive exponential cost MDP formulation and develop a trajectory-based gradient algorithm to find the stationary point of the cost associated with a set of parameterized policies. We derive a formula that can be used to…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

World models aim to capture the states and dynamics of an environment in a compact latent space. Moreover, using Boolean state representations is particularly useful for search heuristics and symbolic reasoning and planning. Existing…

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…

Effective planning requires strong world models, but high-level world models that can understand and reason about actions with semantic and temporal abstraction remain largely underdeveloped. We introduce the Vision Language World Model…

Nonlinear model predictive control (NMPC) is typically restricted to short, finite horizons to limit the computational burden of online optimization. As a result, global planning frameworks are frequently necessary to avoid local minima…

Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decision-making. Success in this domain requires drones not only to navigate at their limits but also to anticipate and counteract…

Despite the increasing popularity of policy gradient methods, they are yet to be widely utilized in sample-scarce applications, such as robotics. The sample efficiency could be improved by making best usage of available information. As a…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…