相关论文: Vector Quantized Models for Planning

Autoencoders exhibit impressive abilities to embed the data manifold into a low-dimensional latent space, making them a staple of representation learning methods. However, without explicit supervision, which is often unavailable, the…

Reinforcement learning (RL) algorithms are designed to optimize problem-solving by learning actions that maximize rewards, a task that becomes particularly challenging in random and nonstationary environments. Even advanced RL algorithms…

Training self-driving cars is often challenging since they require a vast amount of labeled data in multiple real-world contexts, which is computationally and memory intensive. Researchers often resort to driving simulators to train the…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

We build a profitable electronic trading agent with Reinforcement Learning that places buy and sell orders in the stock market. An environment model is built only with historical observational data, and the RL agent learns the trading…

Reinforcement Learning (RL) has demonstrated a great potential for automatically solving decision-making problems in complex uncertain environments. RL proposes a computational approach that allows learning through interaction in an…

Having access to a forward model enables the use of planning algorithms such as Monte Carlo Tree Search and Rolling Horizon Evolution. Where a model is unavailable, a natural aim is to learn a model that reflects accurately the dynamics of…

Many important problems in the real world don't have unique solutions. It is thus important for machine learning models to be capable of proposing different plausible solutions with meaningful probability measures. In this work we introduce…

In this paper we aim to provide analysis and insights (often based on visualization), which explain the beneficial effects of on-line decision making on top of off-line training. In particular, through a unifying abstract mathematical…

We consider learning from labeled data collected across multiple environments, where the data distribution may vary across these environments. This problem is commonly approached from a causal perspective, seeking invariant representations…

Navigation amongst densely packed crowds remains a challenge for mobile robots. The complexity increases further if the environment layout changes, making the prior computed global plan infeasible. In this paper, we show that it is possible…

We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for object search in partially-known environments. Our approach uses an LLM to estimate statistics about the likelihood of finding the…

Reinforcement learning (RL) involves sequential decision making in uncertain environments. The aim of the decision-making agent is to maximize the benefit of acting in its environment over an extended period of time. Finding an optimal…

In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…

We investigate the feasibility of deploying Deep-Q based deep reinforcement learning agents to job-shop scheduling problems in the context of modular production facilities, using discrete event simulations for the environment. These…

Robots in human-centered environments require accurate scene understanding to perform high-level tasks effectively. This understanding can be achieved through instance-aware semantic mapping, which involves reconstructing elements at the…

Real-world planning problems, including autonomous driving and sustainable energy applications like carbon storage and resource exploration, have recently been modeled as partially observable Markov decision processes (POMDPs) and solved…

Causal representation learning (CRL) offers the promise of uncovering the underlying causal model by which observed data was generated, but the practical applicability of existing methods remains limited by the strong assumptions required…

This work proposes a novel model-free Reinforcement Learning (RL) agent that is able to learn how to complete an unknown task having access to only a part of the input observation. We take inspiration from the concepts of visual attention…

We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…