相关论文: PI-ARS: Accelerating Evolution-Learned Visual-Loco…

Evolutionary search-based techniques are commonly used for testing autonomous robotic systems. However, these approaches often rely on computationally expensive simulator-based models for test scenario evaluation. To improve the…

Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…

Recently, evolutionary reinforcement learning has obtained much attention in various domains. Maintaining a population of actors, evolutionary reinforcement learning utilises the collected experiences to improve the behaviour policy through…

We present the Deep Picard Iteration (DPI) method, a new deep learning approach for solving high-dimensional partial differential equations (PDEs). The core innovation of DPI lies in its use of Picard iteration to reformulate the typically…

Efficient feature selection from high-dimensional datasets is a very important challenge in many data-driven fields of science and engineering. We introduce a statistical mechanics inspired strategy that addresses the problem of sparse…

Mixed-Integer Linear Programs (MIPs) are powerful and flexible tools for modeling a wide range of real-world combinatorial optimization problems. Predict-and-Search methods operate by using a predictive model to estimate promising variable…

Retrieval-Augmented Generation (RAG) has become a cornerstone technique for enhancing large language models (LLMs) with external knowledge. However, current RAG systems face two critical limitations: (1) they inefficiently retrieve…

Complex networks describe important structures in nature and society, composed of nodes and the edges that connect them. The evolution of these networks is typically described by dynamics, which are labor-intensive and require expert…

The performance of a deep neural network is heavily dependent on its architecture and various neural architecture search strategies have been developed for automated network architecture design. Recently, evolutionary neural architecture…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Retrieval-augmented generation (RAG) has proven to be effective in mitigating hallucinations in large language models, yet its effectiveness remains limited in complex, multi-step reasoning scenarios. Recent efforts have incorporated…

We analyze the efficacy of modern neuro-evolutionary strategies for continuous control optimization. Overall, the results collected on a wide variety of qualitatively different benchmark problems indicate that these methods are generally…

As progress is made on training machine learning models on incrementally expanding classification tasks (i.e., incremental learning), a next step is to translate this progress to industry expectations. One technique missing from incremental…

A key challenge in reinforcement learning (RL) is managing the exploration-exploitation trade-off without sacrificing sample efficiency. Policy gradient (PG) methods excel in exploitation through fine-grained, gradient-based optimization…

Combinatorial optimization problems are notoriously challenging due to their discrete structure and exponentially large solution space. Recent advances in deep reinforcement learning (DRL) have enabled the learning heuristics directly from…

Reinforcement learning (RL) is widely used to produce robust robotic manipulation policies, but fine-tuning vision-language-action (VLA) models with RL can be unstable due to inaccurate value estimates and sparse supervision at intermediate…

Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) supports continuous formulations but quickly becomes intractable,…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

Large Multimodal Models (LMMs) excel at comprehending human instructions and demonstrate remarkable results across a broad spectrum of tasks. Reinforcement Learning from Human Feedback (RLHF) and AI Feedback (RLAIF) further refine LLMs by…

Active learning has been studied extensively as a method for efficient data collection. Among the many approaches in literature, Expected Error Reduction (EER) (Roy and McCallum) has been shown to be an effective method for active learning:…