相关论文: A Unified Algorithm Framework for Unsupervised Dis…

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…

The options framework in reinforcement learning models the notion of a skill or a temporally extended sequence of actions. The discovery of a reusable set of skills has typically entailed building options, that navigate to bottleneck…

Uncertainty quantification is one of the central challenges for machine learning in real-world applications. In reinforcement learning, an agent confronts two kinds of uncertainty, called epistemic uncertainty and aleatoric uncertainty.…

Reinforcement learning algorithms are typically limited to learning a single solution for a specified task, even though diverse solutions often exist. Recent studies showed that learning a set of diverse solutions is beneficial because…

Unsupervised feature selection (FS) is essential for high-dimensional learning tasks where labels are not available. It helps reduce noise, improve generalization, and enhance interpretability. However, most existing unsupervised FS methods…

Predicting the future states of surrounding traffic participants and planning a safe, smooth, and socially compliant trajectory accordingly is crucial for autonomous vehicles. There are two major issues with the current autonomous driving…

We propose a \emph{collaborative} multi-agent reinforcement learning algorithm named variational policy propagation (VPP) to learn a \emph{joint} policy through the interactions over agents. We prove that the joint policy is a Markov Random…

Several recent works have been dedicated to unsupervised reinforcement learning in a single environment, in which a policy is first pre-trained with unsupervised interactions, and then fine-tuned towards the optimal policy for several…

Normative theories allow one to elicit key parts of a ML algorithm from first principles, which is crucial at a time of championed scrutiny for ML work. Direct Preference Optimization (DPO) cleverly bypasses reward modeling by making an…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

Discrete diffusion models are promising alternatives to autoregressive approaches for text generation, yet their decoding methods remain under-studied. Standard decoding methods for autoregressive models, such as beam search, do not…

Current top performing object recognition systems build on object proposals as a preprocessing step. Object proposal algorithms are designed to generate candidate regions for generic objects, yet current approaches are limited in capturing…

We explore methods for option discovery based on variational inference and make two algorithmic contributions. First: we highlight a tight connection between variational option discovery methods and variational autoencoders, and introduce…

One of the main challenges in reinforcement learning is solving tasks with sparse reward. We show that the difficulty of discovering a distant rewarding state in an MDP is bounded by the expected cover time of a random walk over the graph…

Active learning is a promising alternative to alleviate the issue of high annotation cost in the computer vision tasks by consciously selecting more informative samples to label. Active learning for object detection is more challenging and…

We propose a novel problem formulation of learning a single task when the data are provided in different feature spaces. Each such space is called an outlook, and is assumed to contain both labeled and unlabeled data. The objective is to…

Determinantal point processes (DPPs) are repulsive point processes where the interaction between points depends on the determinant of a positive-semi definite matrix. In this paper, we study the limiting process of L-ensembles based on…

Intelligent creatures can explore their environments and learn useful skills without supervision. In this paper, we propose DIAYN ('Diversity is All You Need'), a method for learning useful skills without a reward function. Our proposed…

A hallmark of intelligent agents is the ability to learn reusable skills purely from unsupervised interaction with the environment. However, existing unsupervised skill discovery methods often learn entangled skills where one skill variable…

The option framework has shown great promise by automatically extracting temporally-extended sub-tasks from a long-horizon task. Methods have been proposed for concurrently learning low-level intra-option policies and high-level option…