相关论文: Enhancing the Hierarchical Environment Design via …

Recently, in order to address the unsupervised domain adaptation (UDA) problem, extensive studies have been proposed to achieve transferrable models. Among them, the most prevalent method is adversarial domain adaptation, which can shorten…

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

Designing continuous trajectories whose time-averaged occupancy provably matches a prescribed spatial density (the \emph{ergodic coverage} problem) is central to UAV-assisted data collection and sensing, robotic exploration, and mobile…

Emergency vehicles require rapid passage through congested traffic, yet existing strategies fail to adapt to dynamic conditions. We propose a novel hierarchical graph neural network (GNN)-based multi-agent reinforcement learning framework…

The capacity of an embodied agent to understand, predict, and interact with its environment is fundamentally contingent on an internal world model. This paper introduces a novel framework for investigating the formation and adaptation of…

Cooperative Multi-Agent Reinforcement Learning (MARL) faces two major design bottlenecks: crafting dense reward functions and constructing curricula that avoid local optima in high-dimensional, non-stationary environments. Existing…

We adapt Parameterized Environment Response Model (PERM), a method for training both Reinforcement Learning (RL) Agents and human learners in parameterized environments by directly modeling difficulty and ability. Inspired by Item Response…

We introduce environment predictive coding, a self-supervised approach to learn environment-level representations for embodied agents. In contrast to prior work on self-supervised learning for images, we aim to jointly encode a series of…

Multi-agent reinforcement learning (MARL) holds substantial promise for intelligent decision-making in complex environments. However, it suffers from a coordination and scalability bottleneck as the number of agents increases. To address…

In this work we create agents that can perform well beyond a single, individual task, that exhibit much wider generalisation of behaviour to a massive, rich space of challenges. We define a universe of tasks within an environment domain and…

Optimizing complex and high-dimensional black-box functions is ubiquitous in science and engineering fields. Unfortunately, the online evaluation of these functions is restricted due to time and safety constraints in most cases. In offline…

Learning from Demonstration (LfD) can be an efficient way to train systems with analogous agents by enabling ``Student'' agents to learn from the demonstrations of the most experienced ``Teacher'' agent, instead of training their policy in…

This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditional optimization methods for trajectory tracking face…

Unified vision-language models have made significant progress in multimodal understanding and generation, yet they largely fall short in producing multimodal interleaved outputs, which is a crucial capability for tasks like visual…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

We consider problems in sequential decision making with natural multi-level structure, where sub-tasks are assembled together to accomplish complex goals. Systematically inferring and leveraging hierarchical structure has remained a…

Increasingly complex, non-linear World-Earth system models are used for describing the dynamics of the biophysical Earth system and the socio-economic and socio-cultural World of human societies and their interactions. Identifying pathways…

Identifying uncertainty and taking mitigating actions is crucial for safe and trustworthy reinforcement learning agents, especially when deployed in high-risk environments. In this paper, risk sensitivity is promoted in a model-based…

Learning-based techniques have become popular in both model predictive control (MPC) and reinforcement learning (RL). Probabilistic ensemble (PE) models offer a promising approach for modelling system dynamics, showcasing the ability to…

Adapting a Reinforcement Learning (RL) agent to an unseen environment is a difficult task due to typical over-fitting on the training environment. RL agents are often capable of solving environments very close to the trained environment,…