相关论文: Masked Trajectory Models for Prediction, Represent…

Recent work in Offline Reinforcement Learning (RL) has shown that a unified Transformer trained under a masked auto-encoding objective can effectively capture the relationships between different modalities (e.g., states, actions, rewards)…

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for…

Model-based reinforcement learning (RL) has shown great potential in various control tasks in terms of both sample-efficiency and final performance. However, learning a generalizable dynamics model robust to changes in dynamics remains a…

Trajectory representation learning (TRL) maps trajectories to vectors that can then be used for various downstream tasks, including trajectory similarity computation, trajectory classification, and travel-time estimation. However, existing…

Inspired by the recent success of sequence modeling in RL and the use of masked language model for pre-training, we propose a masked model for pre-training in RL, RePreM (Representation Pre-training with Masked Model), which trains the…

Trajectory prediction is a pivotal component of autonomous driving systems, enabling the application of accumulated movement experience to current scenarios. Although most existing methods concentrate on learning continuous representations…

Autonomous vehicles are expected to drive in complex scenarios with several independent non cooperating agents. Path planning for safely navigating in such environments can not just rely on perceiving present location and motion of other…

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…

We present Masked Frequency Modeling (MFM), a unified frequency-domain-based approach for self-supervised pre-training of visual models. Instead of randomly inserting mask tokens to the input embeddings in the spatial domain, in this paper,…

Time series analysis is widely used in extensive areas. Recently, to reduce labeling expenses and benefit various tasks, self-supervised pre-training has attracted immense interest. One mainstream paradigm is masked modeling, which…

As the deep learning revolution marches on, self-supervised learning has garnered increasing attention in recent years thanks to its remarkable representation learning ability and the low dependence on labeled data. Among these varied…

Masked Diffusion Models (MDMs) have emerged as one of the most promising paradigms for generative modeling over discrete domains. It is known that MDMs effectively train to decode tokens in a random order, and that this ordering has…

Multi-task representation learning (MTRL) is an approach that learns shared latent representations across related tasks, facilitating collaborative learning that improves the overall learning efficiency. This paper studies MTRL for…

Accurate travel time estimation (TTE) plays a crucial role in intelligent transportation systems. However, it remains challenging due to heterogeneous data sources and complex traffic dynamics. Moreover, traditional approaches typically…

In this paper, we study the problem of transferring the available Markov Decision Process (MDP) models to learn and plan efficiently in an unknown but similar MDP. We refer to it as \textit{Model Transfer Reinforcement Learning (MTRL)}…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

Building a general model capable of analyzing human trajectories across different geographic regions and different tasks becomes an emergent yet important problem for various applications. However, existing works suffer from the…

Understanding the dynamics of an environment, such as the movement of humans and vehicles, is crucial for agents to achieve long-term autonomy in urban environments. This requires the development of methods to capture the multi-modal and…

For deep reinforcement learning (RL) from pixels, learning effective state representations is crucial for achieving high performance. However, in practice, limited experience and high-dimensional inputs prevent effective representation…

Effective modeling of human interactions is of utmost importance when forecasting behaviors such as future trajectories. Each individual, with its motion, influences surrounding agents since everyone obeys to social non-written rules such…