相关论文: Enhancing the Hierarchical Environment Design via …

Reinforcement Learning (RL) algorithms are often known for sample inefficiency and difficult generalization. Recently, Unsupervised Environment Design (UED) emerged as a new paradigm for zero-shot generalization by simultaneously learning a…

We propose Unified Distributed Environment (UDE), an environment virtualization toolkit for reinforcement learning research. UDE is designed to integrate environments built on any simulation platform such as Gazebo, Unity, Unreal, and…

Reinforcement learning (RL) is a powerful tool for optimal control that has found great success in Atari games, the game of Go, robotic control, and building optimization. RL is also very brittle; agents often overfit to their training…

An open problem in Machine Learning is how to avoid models to exploit spurious correlations in the data; a famous example is the background-label shortcut in the Waterbirds dataset. A common remedy is to train a model across multiple…

Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning requirements. In this work, we propose HeRD, a hierarchical…

A key limitation preventing the wider adoption of autonomous agents trained via deep reinforcement learning (RL) is their limited ability to generalise to new environments, even when these share similar characteristics with environments…

Unsupervised pre-training can equip reinforcement learning agents with prior knowledge and accelerate learning in downstream tasks. A promising direction, grounded in human development, investigates agents that learn by setting and pursuing…

We propose a hierarchical learning architecture for predictive control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of state-input trajectories solving control tasks in different…

Long-horizon decision-making tasks present significant challenges for LLM-based agents due to the need for extensive planning over multiple steps. In this paper, we propose a hierarchical framework that decomposes complex tasks into…

Training a model-free reinforcement learning agent requires allowing the agent to sufficiently explore the environment to search for an optimal policy. In safety-constrained environments, utilizing unsupervised exploration or a non-optimal…

Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language…

Training agents to operate under strict constraints during deployment, such as limited resource budgets or stringent safety requirements, presents significant challenges, especially when these constraints render the task complex. In this…

Unsupervised environment design (UED) is a form of automatic curriculum learning for training robust decision-making agents to zero-shot transfer into unseen environments. Such autocurricula have received much interest from the RL…

Following the pivotal success of learning strategies to win at tasks, solely by interacting with an environment without any supervision, agents have gained the ability to make sequential decisions in complex MDPs. Yet, reinforcement…

State of the art reinforcement learning has enabled training agents on tasks of ever increasing complexity. However, the current paradigm tends to favor training agents from scratch on every new task or on collections of tasks with a view…

Advancements in reinforcement learning (RL) have demonstrated superhuman performance in complex tasks such as Starcraft, Go, Chess etc. However, knowledge transfer from Artificial "Experts" to humans remain a significant challenge. A…

World models are increasingly pivotal in interpreting and simulating the rules and actions of complex environments. Genie, a recent model, excels at learning from visually diverse environments but relies on costly human-collected data. We…

Recent advances in agent development have focused on scaling model size and raw interaction data, mirroring successes in large language models. However, for complex, long-horizon multi-agent tasks such as robotic soccer, this end-to-end…

Goal-directed Reinforcement Learning (RL) traditionally considers an agent interacting with an environment, prescribing a real-valued reward to an agent proportional to the completion of some goal. Goal-directed RL has seen large gains in…

This paper presents a novel paradigm in simulation-based engineering sciences by introducing a new framework called Generative Parametric Design (GPD). The GPD framework enables the generation of new designs along with their corresponding…