相关论文: Efficient Belief Space Planning in High-Dimensiona…

When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find feasible plans efficiently. Such problems are often reduced…

We study the problem of learning Markov decision processes with finite state and action spaces when the transition probability distributions and loss functions are chosen adversarially and are allowed to change with time. We introduce an…

Offline reinforcement learning methods hold the promise of learning policies from pre-collected datasets without the need to query the environment for new transitions. This setting is particularly well-suited for continuous control robotic…

Group Relative Policy Optimization (GRPO) effectively scales LLM reasoning but incurs prohibitive computational costs due to its extensive group-based sampling requirement. While recent selective data utilization methods can mitigate this…

We study reinforcement learning for controlled diffusion processes with unbounded continuous state spaces, bounded continuous actions, and polynomially growing rewards: settings that arise naturally in finance, economics, and operations…

The recent success of supervised learning methods on ever larger offline datasets has spurred interest in the reinforcement learning (RL) field to investigate whether the same paradigms can be translated to RL algorithms. This research…

Model checking has been proposed as a formal verification approach for analyzing computer-based and cyber-physical systems. The state space explosion problem is the main obstacle for applying this approach for sophisticated systems.…

Prompt optimization methods have demonstrated significant effectiveness in aligning black-box large language models (LLMs). In parallel, inference scaling strategies such as Best-of-N Sampling and Majority Voting have likewise been shown to…

Since state-of-the-art uncertainty estimation methods are often computationally demanding, we investigate whether incorporating prior information can improve uncertainty estimates in conventional deep neural networks. Our focus is on…

Diffusion models have recently shown significant potential in solving decision-making problems, particularly in generating behavior plans -- also known as diffusion planning. While numerous studies have demonstrated the impressive…

Reinforcement Learning (RL) algorithms for safety alignment of Large Language Models (LLMs), such as Direct Preference Optimization (DPO), encounter the challenge of distribution shift. Current approaches typically address this issue…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…

Offline reinforcement learning (RL) aims to infer sequential decision policies using only offline datasets. This is a particularly difficult setup, especially when learning to achieve multiple different goals or outcomes under a given…

We investigate constrained online convex optimization, in which decisions must belong to a fixed and typically complicated domain, and are required to approximately satisfy additional time-varying constraints over the long term. In this…

Chat-oriented dialogue systems designed to provide tangible benefits, such as sharing the latest news or preventing frailty in senior citizens, often require Proactive acquisition of specific user Information via chats on user-faVOred…

A challenging category of robotics problems arises when sensing incurs substantial costs. This paper examines settings in which a robot wishes to limit its observations of state, for instance, motivated by specific considerations of energy…

Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-space planners address this by propagating pose-belief…

Domain-independent planning is one of the foundational areas in the field of Artificial Intelligence. A description of a planning task consists of an initial world state, a goal, and a set of actions for modifying the world state. The…

The size and complexity of software and hardware systems have significantly increased in the past years. As a result, it is harder to guarantee their correct behavior. One of the most successful methods for automated verification of…

When using LLMs to rank items based on given criteria, or evaluate answers, the order of candidate items can influence the model's final decision. This sensitivity to item positioning in a LLM's prompt is known as position bias. Prior…