相关论文: SAGE: Generating Symbolic Goals for Myopic Models …

This paper presents a methodological framework for training, self-optimising, and self-organising surrogate models to approximate and speed up multiobjective optimisation of technical systems based on multiphysics simulations. At the hand…

The application of learning-based control methods in robotics presents significant challenges. One is that model-free reinforcement learning algorithms use observation data with low sample efficiency. To address this challenge, a prevalent…

Adapting to unforeseen novelties in open-world environments remains a major challenge for autonomous systems. While hybrid planning and reinforcement learning (RL) approaches show promise, they often suffer from sample inefficiency, slow…

Reinforcement learning (RL) has demonstrated notable success in post-training large language models (LLMs) as agents for tasks such as computer use, tool calling, and coding. However, exploration remains a central challenge in RL for LLM…

Sample-based planning is a powerful family of algorithms for generating intelligent behavior from a model of the environment. Generating good candidate actions is critical to the success of sample-based planners, particularly in continuous…

Successfully navigating a complex environment to obtain a desired outcome is a difficult task, that up to recently was believed to be capable only by humans. This perception has been broken down over time, especially with the introduction…

The vision of an inclusive World Wide Web is impeded by a severe linguistic divide, particularly for communities in low-resource regions of Southeast Asia. While large language models (LLMs) offer a potential solution for translation, their…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

In recent years, model-free methods that use deep learning have achieved great success in many different reinforcement learning environments. Most successful approaches focus on solving a single task, while multi-task reinforcement learning…

Improving sample efficiency is central to Reinforcement Learning (RL), especially in environments where the rewards are sparse. Some recent approaches have proposed to specify reward functions as manually designed or learned reward…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Identifying governing equations for a dynamical system is a topic of critical interest across an array of disciplines, from mathematics to engineering to biology. Machine learning -- specifically deep learning -- techniques have shown their…

Deep reinforcement learning has over the past few years shown great potential in learning near-optimal control in complex simulated environments with little visible information. Rainbow (Q-Learning) and PPO (Policy Optimisation) have shown…

A self-learning adaptive system (SLAS) uses machine learning to enable and enhance its adaptability. Such systems are expected to perform well in dynamic situations. For learning high-performance adaptation policy, some assumptions must be…

Multi-stage sequential (MSS) robotic manipulation tasks are prevalent and crucial in robotics. They often involve state ambiguity, where visually similar observations correspond to different actions. We present SAGE, a state-aware guided…

Generative models have gained significant traction in offline reinforcement learning (RL) due to their ability to model complex trajectory distributions. However, existing generation-based approaches still struggle with long-horizon tasks…

We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models…

Balancing exploration and exploitation is a fundamental part of reinforcement learning, yet most state-of-the-art algorithms use a naive exploration protocol like $\epsilon$-greedy. This contributes to the problem of high sample complexity,…