相关论文: Hieros: Hierarchical Imagination on Structured Sta…

In collaborative human-robot order picking systems, human pickers and Autonomous Mobile Robots (AMRs) travel independently through a warehouse and meet at pick locations where pickers load items onto the AMRs. In this paper, we consider an…

Standard reinforcement learning algorithms with a single policy perform poorly on tasks in complex environments involving sparse rewards, diverse behaviors, or long-term planning. This led to the study of algorithms that incorporate…

Visual Model-Based Reinforcement Learning (MBRL) promises to encapsulate agent's knowledge about the underlying dynamics of the environment, enabling learning a world model as a useful planner. However, top MBRL agents such as Dreamer often…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Deep Reinforcement Learning (DRL) has been extensively used to address portfolio optimization problems. The DRL agents acquire knowledge and make decisions through unsupervised interactions with their environment without requiring explicit…

Developing decision-making algorithms for highly automated driving systems remains challenging, since these systems have to operate safely in an open and complex environments. Reinforcement Learning (RL) approaches can learn comprehensive…

In the past few years, DRL has become a valuable solution to automatically learn efficient resource management strategies in complex networks with time-varying statistics. However, the increased complexity of 5G and Beyond networks requires…

Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

Information theoretic sensor management approaches are an ideal solution to state estimation problems when considering the optimal control of multi-agent systems, however they are too computationally intensive for large state spaces,…

We study the problem of modeling spatiotemporal trajectories over long time horizons using expert demonstrations. For instance, in sports, agents often choose action sequences with long-term goals in mind, such as achieving a certain…

The deployment of multi-agent systems in dynamic, adversarial environments like robotic soccer necessitates real-time decision-making, sophisticated cooperation, and scalable algorithms to avoid the curse of dimensionality. While…

Internal modelling of the world -- predicting transitions between previous states $X$ and next states $Y$ under actions $Z$ -- is essential to reasoning and planning for LLMs and VLMs. Learning such models typically requires costly…

Hierarchical Reinforcement Learning (HRL) allows interactive agents to decompose complex problems into a hierarchy of sub-tasks. Higher-level tasks can invoke the solutions of lower-level tasks as if they were primitive actions. In this…

Large Language Models (LLMs) have recently demonstrated impressive action sequence prediction capabilities but often struggle with dynamic, long-horizon tasks such as real-time strategic games. In a game such as StarCraftII (SC2), agents…

Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study the…

Hierarchical Reinforcement Learning has been previously shown to speed up the convergence rate of RL planning algorithms as well as mitigate feature-based model misspecification (Mankowitz et. al. 2016a,b, Bacon 2015). To do so, it utilizes…

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…

Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping performance, in this paper, we propose a NeRF-based mapping…