相关论文: Prototypical context-aware dynamics generalization…

$\textbf{This is the conference version of our paper: Spatiotemporal Implicit Neural Representation as a Generalized Traffic Data Learner}$. Spatiotemporal Traffic Data (STTD) measures the complex dynamical behaviors of the multiscale…

As a safety critical task, autonomous driving requires accurate predictions of road users' future trajectories for safe motion planning, particularly under challenging conditions. Yet, many recent deep learning methods suffer from a…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

In recent years, domains such as natural language processing and image recognition have popularized the paradigm of using large datasets to pretrain representations that can be effectively transferred to downstream tasks. In this work we…

Achieving generalizable embodied policies remains a key challenge. Traditional policy learning paradigms, including both Imitation Learning (IL) and Reinforcement Learning (RL), struggle to cultivate generalizability across diverse…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

Model-based reinforcement learning could enable sample-efficient learning by quickly acquiring rich knowledge about the world and using it to improve behaviour without additional data. Learned dynamics models can be directly used for…

Causal dynamics learning has recently emerged as a promising approach to enhancing robustness in reinforcement learning (RL). Typically, the goal is to build a dynamics model that makes predictions based on the causal relationships among…

Large language models (LLMs) can answer questions and summarize documents when conditioned on external contexts (e.g., retrieved evidence), yet context use remains unreliable: models may overwrite an already-correct output (neutral…

World models have recently emerged as a promising approach to reinforcement learning (RL), achieving state-of-the-art performance across a wide range of visual control tasks. This work aims to obtain a deep understanding of the robustness…

Model-based Deep Reinforcement Learning (RL) assumes the availability of a model of an environment's underlying transition dynamics. This model can be used to predict future effects of an agent's possible actions. When no such model is…

We consider the setting of an agent with a fixed body interacting with an unknown and uncertain external world. We show that models trained to predict proprioceptive information about the agent's body come to represent objects in the…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

Vision-centric autonomous driving has recently raised wide attention due to its lower cost. Pre-training is essential for extracting a universal representation. However, current vision-centric pre-training typically relies on either 2D or…

In meta-learning and its downstream tasks, many methods rely on implicit adaptation to task variations, where multiple factors are mixed together in a single entangled representation. This makes it difficult to interpret which factors drive…

In real-world environments, AI systems often face unfamiliar scenarios without labeled data, creating a major challenge for conventional scene understanding models. The inability to generalize across unseen contexts limits the deployment of…

In real-world applications, machine learning models often become obsolete due to shifts in the joint distribution arising from underlying temporal trends, a phenomenon known as the "concept drift". Existing works propose model-specific…

Learning-based model predictive control has been widely applied in autonomous racing to improve the closed-loop behaviour of vehicles in a data-driven manner. When environmental conditions change, e.g., due to rain, often only the…