相关论文: Mastering Diverse Domains through World Models

We propose a method for meta-learning reinforcement learning algorithms by searching over the space of computational graphs which compute the loss function for a value-based model-free RL agent to optimize. The learned algorithms are…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Building generalist robots capable of performing functional grasping in everyday, open-world environments remains a significant challenge due to the vast diversity of objects and tasks. Existing methods are either constrained to narrow…

Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on…

Effective code optimization in compilers is crucial for computer and software engineering. The success of these optimizations primarily depends on the selection and ordering of the optimization passes applied to the code. While most…

In recent years, machine learning technologies have gained immense popularity and are being used in a wide range of domains. However, due to the complexity associated with machine learning algorithms, it is a challenge to make it…

Reinforcement learning (RL) is well known for requiring large amounts of data in order for RL agents to learn to perform complex tasks. Recent progress in model-based RL allows agents to be much more data-efficient, as it enables them to…

Reinforcement Learning (RL) has made significant strides in complex tasks but struggles in multi-task settings with different embodiments. World model methods offer scalability by learning a simulation of the environment but often rely on…

Recently, extensive research on image customization (e.g., identity, subject, style, background, etc.) demonstrates strong customization capabilities in large-scale generative models. However, most approaches are designed for specific…

We introduce DreamerAD, the first latent world model framework that enables efficient reinforcement learning for autonomous driving by compressing diffusion sampling from 100 steps to 1 - achieving 80x speedup while maintaining visual…

Despite large-scale pretraining endowing models with language and vision reasoning capabilities, improving their spatial reasoning capability remains challenging due to the lack of data grounded in the 3D world. While it is possible for…

An important goal of research in Deep Reinforcement Learning in mobile robotics is to train agents capable of solving complex tasks, which require a high level of scene understanding and reasoning from an egocentric perspective. When…

Deep learning has enabled traditional reinforcement learning methods to deal with high-dimensional problems. However, one of the disadvantages of deep reinforcement learning methods is the limited exploration capacity of learning agents. In…

Planning - the ability to analyze the structure of a problem in the large and decompose it into interrelated subproblems - is a hallmark of human intelligence. While deep reinforcement learning (RL) has shown great promise for solving…

The problem of uncertainty is a feature of real world robotics problems and any control framework must contend with it in order to succeed in real applications tasks. Reinforcement Learning is no different, and epistemic uncertainty arising…

Numerous real-world control problems involve dynamics and objectives affected by unobservable hidden parameters, ranging from autonomous driving to robotic manipulation, which cause performance degradation during sim-to-real transfer. To…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Deep Reinforcement Learning (DRL) and Deep Multi-agent Reinforcement Learning (MARL) have achieved significant successes across a wide range of domains, including game AI, autonomous vehicles, robotics, and so on. However, DRL and deep MARL…

The goal of reinforcement learning algorithms is to estimate and/or optimise the value function. However, unlike supervised learning, no teacher or oracle is available to provide the true value function. Instead, the majority of…