相关论文: Uncertainty-Aware Decision Transformer for Stochas…

In-context learning is a promising approach for offline reinforcement learning (RL) to handle online tasks, which can be achieved by providing task prompts. Recent works demonstrated that in-context RL could emerge with self-improvement in…

Offline meta reinforcement learning (OMRL) has emerged as a promising approach for interaction avoidance and strong generalization performance by leveraging pre-collected data and meta-learning techniques. Previous context-based approaches…

In mixed autonomy traffic environment, every decision made by an autonomous-driving car may have a great impact on the transportation system. Because of the complex interaction between vehicles, it is challenging to make decisions that can…

Online Reinforcement Learning (RL) is typically framed as the process of minimizing cumulative regret (CR) through interactions with an unknown environment. However, real-world RL applications usually involve a sequence of tasks, and the…

Reinforcement learning (RL) in robotics is often limited by the cost and risk of data collection, motivating experience transfer from a source task to a target task. Offline-to-online RL leverages prior data but typically assumes a given…

Continuous-time reinforcement learning (CTRL) provides a natural framework for sequential decision-making in dynamic environments where interactions evolve continuously over time. While CTRL has shown growing empirical success, its ability…

Understanding adaptive human driving behavior, in particular how drivers manage uncertainty, is of key importance for developing simulated human driver models that can be used in the evaluation and development of autonomous vehicles.…

Reinforcement learning (RL) systems typically optimize scalar reward functions that assume precise and reliable evaluation of outcomes. However, real-world objectives--especially those derived from human preferences--are often uncertain,…

We address the problem of forecasting pedestrian and vehicle trajectories in unknown environments, conditioned on their past motion and scene structure. Trajectory forecasting is a challenging problem due to the large variation in scene…

Offline reinforcement learning (RL) optimizes the policy on a previously collected dataset without any interactions with the environment, yet usually suffers from the distributional shift problem. To mitigate this issue, a typical solution…

Offline reinforcement learning (RL) enables data-efficient and safe policy learning without online exploration, but its performance often degrades under distribution shift. The learned policy may visit out-of-distribution state-action pairs…

This work studies offline Reinforcement Learning (RL) in a class of non-Markovian environments called Regular Decision Processes (RDPs). In RDPs, the unknown dependency of future observations and rewards from the past interactions can be…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Urban traffic management demands systems that simultaneously predict future conditions, detect anomalies, and take safe corrective actions -- all while providing reliability guarantees. We present STREAM-RL, a unified framework that…

Offline reinforcement learning (RL) offers a powerful paradigm for data-driven control. Compared to model-free approaches, offline model-based RL (MBRL) explicitly learns a world model from a static dataset and uses it as a surrogate…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…

Transformers trained via Reinforcement Learning (RL) with outcome-based supervision can spontaneously develop the ability to generate intermediate reasoning steps (Chain-of-Thought). Yet the mechanism by which sparse rewards drive policy…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…