相关论文: Residual Pathway Priors for Soft Equivariance Cons…

(Non-)robustness of neural networks to small, adversarial pixel-wise perturbations, and as more recently shown, to even random spatial transformations (e.g., translations, rotations) entreats both theoretical and empirical understanding.…

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…

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…

Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

The past year saw the introduction of new architectures such as Highway networks and Residual networks which, for the first time, enabled the training of feedforward networks with dozens to hundreds of layers using simple gradient descent.…

The training of deep residual neural networks (ResNets) with backpropagation has a memory cost that increases linearly with respect to the depth of the network. A way to circumvent this issue is to use reversible architectures. In this…

Feedforward neural networks with random hidden nodes suffer from a problem with the generation of random weights and biases as these are difficult to set optimally to obtain a good projection space. Typically, random parameters are drawn…

Model-based reinforcement learning (RL) algorithms can attain excellent sample efficiency, but often lag behind the best model-free algorithms in terms of asymptotic performance. This is especially true with high-capacity parametric…

Trajectory prediction is critical for autonomous driving, enabling safe and efficient planning in dense, dynamic traffic. Most existing methods optimize prediction accuracy under fixed-length observations. However, real-world driving often…

Reinforcement Learning and Imitation Learning have achieved widespread success in many domains but remain constrained during real-world deployment. One of the main issues is the additional requirements that were not considered during…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

Model-Free Reinforcement Learning has achieved meaningful results in stable environments but, to this day, it remains problematic in regime changing environments like financial markets. In contrast, model-based RL is able to capture some…

Aligning multimodal generative models with human preferences demands reward signals that respect the compositional, multi-dimensional structure of human judgment. Prevailing RLHF approaches reduce this structure to scalar or pairwise…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

In recent years the use of convolutional layers to encode an inductive bias (translational equivariance) in neural networks has proven to be a very fruitful idea. The successes of this approach have motivated a line of research into…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…