相关论文: Multi-expert learning of adaptive legged locomotio…

Graph Neural Networks (GNNs) face a fundamental adaptability challenge: their fixed message-passing architectures struggle with the immense diversity of real-world graphs, where optimal computational strategies vary by local structure and…

Differentiable physics enables efficient gradient-based optimizations of neural network (NN) controllers. However, existing work typically only delivers NN controllers with limited capability and generalizability. We present a practical…

Continual adaptation is essential for general autonomous agents. For example, a household robot pretrained with a repertoire of skills must still adapt to unseen tasks specific to each household. Motivated by this, building upon…

The Mixture of Experts (MoE) architecture enables the scaling of Large Language Models (LLMs) to trillions of parameters by activating a sparse subset of weights for each input, maintaining constant computational cost during inference.…

Recent advances in deep learning and large language models (LLMs) have facilitated the deployment of the mixture-of-experts (MoE) mechanism in the stock investment domain. While these models have demonstrated promising trading performance,…

Complex manipulation tasks often require robots with complementary capabilities to collaborate. We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) focused on task allocation and long-horizon object…

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of…

Expert parallelism is vital for effectively training Mixture-of-Experts (MoE) models, enabling different devices to host distinct experts, with each device processing different input data. However, during expert parallel training, dynamic…

Decreasing skilled workers is a very serious problem in the world. To deal with this problem, the skill transfer from experts to robots has been researched. These methods which teach robots by human motion are called imitation learning.…

Mixture-of-Experts (MoE) architectures have shown strong multilingual capabilities, yet the internal mechanisms underlying performance gains and cross-language differences remain insufficiently understood. In this work, we conduct a…

Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles. The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body…

Bipedal robots are gaining global recognition due to their potential applications and advancements in artificial intelligence, particularly through Deep Reinforcement Learning (DRL). While DRL has significantly advanced bipedal locomotion,…

End-to-end learning from sensory data has shown promising results in autonomous driving. While employing many sensors enhances world perception and should lead to more robust and reliable behavior of autonomous vehicles, it is challenging…

Reinforcement learning (RL) has equipped LLM agents with a strong ability to solve complex tasks. However, existing RL methods normally use a \emph{single} policy network, causing \emph{simplicity bias} where simple tasks occupy most…

Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

LLMs have demonstrated impressive performance across various language tasks. However, the strengths of LLMs can vary due to different architectures, model sizes, areas of training data, etc. Therefore, ensemble reasoning for the strengths…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

The training and fine-tuning of large language models (LLMs) often involve diverse textual data from multiple sources, which poses challenges due to conflicting gradient directions, hindering optimization and specialization. These…