相关论文: Informed POMDP: Leveraging Additional Information …

Robot sequential decision-making in the real world is a challenge because it requires the robots to simultaneously reason about the current world state and dynamics, while planning actions to accomplish complex tasks. On the one hand,…

Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the difficulty of optimizing over discrete contacts and the…

Partially Observable Markov Decision Processes (POMDPs) are used to model environments where the full state cannot be perceived by an agent. As such the agent needs to reason taking into account the past observations and actions. However,…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

In the Mixup training paradigm, a model is trained using convex combinations of data points and their associated labels. Despite seeing very few true data points during training, models trained using Mixup seem to still minimize the…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

Many real world tasks exhibit rich structure that is repeated across different parts of the state space or in time. In this work we study the possibility of leveraging such repeated structure to speed up and regularize learning. We start…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…

Reinforcement learning would enjoy better success on real-world problems if domain knowledge could be imparted to the algorithm by the modelers. Most problems have both hidden state and unknown dynamics. Partially observable Markov decision…

Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition is uncertain. Due to this uncertainty, earlier work has concentrated on either identifying the…

A significant challenge in machine learning, particularly in noisy and low-data environments, lies in effectively incorporating inductive biases to enhance data efficiency and robustness. Despite the success of informed machine learning…

"Dreaming" enables agents to learn from imagined experiences, enabling more robust and sample-efficient learning of world models. In this work, we consider innovations to the state-of-the-art Dreamer model using probabilistic methods that…

In this work we propose an extension of physics informed supervised learning strategies to parametric partial differential equations. Indeed, even if the latter are indisputably useful in many applications, they can be computationally…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

With the widespread adoption of Large Language Models (LLMs), there is a growing need to establish best practices for leveraging their capabilities beyond traditional natural language tasks. In this paper, a novel cross-domain knowledge…

Meta-reinforcement learning (meta-RL) is a promising approach that enables the agent to learn new tasks quickly. However, most meta-RL algorithms show poor generalization in multi-task scenarios due to the insufficient task information…

In the predict-then-optimize framework, the objective is to train a predictive model, mapping from environment features to parameters of an optimization problem, which maximizes decision quality when the optimization is subsequently solved.…

One of the main challenges in the field of embodied artificial intelligence is the open-ended autonomous learning of complex behaviours. Our approach is to use task-independent, information-driven intrinsic motivation(s) to support…

POI representation learning plays a crucial role in handling tasks related to user mobility data. Recent studies have shown that enriching POI representations with multimodal information can significantly enhance their task performance.…

Discovering an informative, or agent-centric, state representation that encodes only the relevant information while discarding the irrelevant is a key challenge towards scaling reinforcement learning algorithms and efficiently applying them…