相关论文: Augmented World Models Facilitate Zero-Shot Dynami…

A robot's instantaneous sensory observations do not always reveal task-relevant state information. Under such partial observability, optimal behavior typically involves explicitly acting to gain the missing information. Today's standard…

Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL approaches struggle with complex tasks characterized by…

Model-based reinforcement learning could enable sample-efficient learning by quickly acquiring rich knowledge about the world and using it to improve behaviour without additional data. Learned dynamics models can be directly used for…

We investigate the use of transformer sequence models as dynamics models (TDMs) for control. We find that TDMs exhibit strong generalization capabilities to unseen environments, both in a few-shot setting, where a generalist TDM is…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

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…

Offline reinforcement learning leverages large datasets to train policies without interactions with the environment. The learned policies may then be deployed in real-world settings where interactions are costly or dangerous. Current…

Understanding occupant-vehicle interactions by modeling control transitions is important to ensure safe approaches to passenger vehicle automation. Models which contain contextual, semantically meaningful representations of driver states…

Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly…

Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces and kinematics hinder data sharing and policy transfer. This raises a central question: Is there any…

Data collection is crucial for learning robust world models in model-based reinforcement learning. The most prevalent strategies are to actively collect trajectories by interacting with the environment during online training or training on…

Climate Change is an incredibly complicated problem that humanity faces. When many variables interact with each other, it can be difficult for humans to grasp the causes and effects of the very large-scale problem of climate change. The…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments. We introduce DreamZero, a World Action Model (WAM) built upon a pretrained…

While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

We present the Multi-Agent Transformer World Model (MATWM), a novel transformer-based world model designed for multi-agent reinforcement learning in both vector- and image-based environments. MATWM combines a decentralized imagination…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation, but their reliance on expert demonstrations limits their ability to learn from failures and perform self-corrections. Reinforcement…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Large language models (LLMs) have been increasingly applied to tasks in language understanding and interactive decision-making, with their impressive performance largely attributed to the extensive domain knowledge embedded within them.…