相关论文: World Model as a Graph: Learning Latent Landmarks …

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

We introduce an algorithm for model-based hierarchical reinforcement learning to acquire self-contained transition and reward models suitable for probabilistic planning at multiple levels of abstraction. We call this framework Planning with…

Deep reinforcement learning (DRL) methods have recently shown promise in path planning tasks. However, when dealing with global planning tasks, these methods face serious challenges such as poor convergence and generalization. To this end,…

Can large language models (LLMs) directly serve as powerful world models for model-based agents? While the gaps between the prior knowledge of LLMs and the specified environment's dynamics do exist, our study reveals that the gaps can be…

Planning with a learned model is arguably a key component of intelligence. There are several challenges in realizing such a component in large-scale reinforcement learning (RL) problems. One such challenge is dealing effectively with…

Recently, graph-based planning algorithms have gained much attention to solve goal-conditioned reinforcement learning (RL) tasks: they provide a sequence of subgoals to reach the target-goal, and the agents learn to execute…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Efficient job allocation in complex scheduling problems poses significant challenges in real-world applications. In this report, we propose a novel approach that leverages the power of Reinforcement Learning (RL) and Graph Neural Networks…

To be successful in real-world tasks, Reinforcement Learning (RL) needs to exploit the compositional, relational, and hierarchical structure of the world, and learn to transfer it to the task at hand. Recent advances in representation…

Developing foundational world models is a key research direction for embodied intelligence, with the ability to adapt to non-stationary environments being a crucial criterion. In this work, we introduce a new formalism, Hidden…

The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…

To achieve autonomy in a priori unknown real-world scenarios, agents should be able to: i) act from high-dimensional sensory observations (e.g., images), ii) learn from past experience to adapt and improve, and iii) be capable of long…

Reinforcement Learning (RL), bolstered by the expressive capabilities of Deep Neural Networks (DNNs) for function approximation, has demonstrated considerable success in numerous applications. However, its practicality in addressing various…

Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on…

Large Language Models (LLMs) have demonstrated exceptional abilities in reasoning for task planning. However, challenges remain under-explored for parallel schedules. This paper introduces a novel paradigm, plan-over-graph, in which the…

Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…

Graph neural networks (GNNs) have emerged as the standard method for numerous tasks on graph-structured data such as node classification. However, real-world graphs are often evolving over time and even new classes may arise. We model these…