相关论文: Goal-Space Planning with Subgoal Models

We are interested in learning models of non-stationary environments, which can be framed as a multi-task learning problem. Model-free reinforcement learning algorithms can achieve good asymptotic performance in multi-task learning at a cost…

Reinforcement learning provides a framework for learning to control which actions to take towards completing a task through trial-and-error. In many applications observing interactions is costly, necessitating sample-efficient learning. In…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

Generalized planning studies the construction of solution strategies that generalize across families of planning problems sharing a common domain model, formally defined by a transition function $\gamma : S \times A \rightarrow S$.…

This report covers our reproduction effort of the paper 'Differentiable Spatial Planning using Transformers' by Chaplot et al. . In this paper, the problem of spatial path planning in a differentiable way is considered. They show that their…

Vision-Language Models require efficient adaptation to continually emerging downstream tasks. While Parameter-Efficient Fine-Tuning mitigates catastrophic forgetting, assigning isolated modules per task leads to parameter explosion.…

In the last decade, reinforcement learning successfully solved complex control tasks and decision-making problems, like the Go board game. Yet, there are few success stories when it comes to deploying those algorithms to real-world…

In data-rich domains such as vision, language, and speech, deep learning prevails to deliver high-performance task-specific models and can even learn general task-agnostic representations for efficient finetuning to downstream tasks.…

In the quest for efficient and robust reinforcement learning methods, both model-free and model-based approaches offer advantages. In this paper we propose a new way of explicitly bridging both approaches via a shared low-dimensional…

Can we learn policies in reinforcement learning without rewards? Can we learn a policy just by trying to reach a goal state? We answer these questions positively by proposing a multi-step procedure that first learns a world model that goes…

This paper bridges some of the gap between optimal planning and reinforcement learning (RL), both of which share roots in dynamic programming applied to sequential decision making or optimal control. Whereas planning typically favors…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

Traditional end-to-end (E2E) training of deep networks necessitates storing intermediate activations for back-propagation, resulting in a large memory footprint on GPUs and restricted model parallelization. As an alternative, greedy local…

A long-standing goal in deep learning has been to characterize the learning behavior of black-box models in a more interpretable manner. For graph neural networks (GNNs), considerable advances have been made in formalizing what functions…

We introduce a framework for model learning and planning in stochastic domains with continuous state and action spaces and non-Gaussian transition models. It is efficient because (1) local models are estimated only when the planner requires…

Deep learning has become an indispensable part of life, such as face recognition, NLP, etc., but the training of deep model has always been a challenge, and in recent years, the complexity of training data and models has shown explosive…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1)…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

This paper reviews the connections between Graphplan's planning-graph and the dynamic constraint satisfaction problem and motivates the need for adapting CSP search techniques to the Graphplan algorithm. It then describes how explanation…