相关论文: World Models via Policy-Guided Trajectory Diffusio…

Policy gradient (PG) methods are a class of effective reinforcement learning algorithms, particularly when dealing with continuous control problems. They rely on fresh on-policy data, making them sample-inefficient and requiring…

A key barrier to using reinforcement learning (RL) in many real-world applications is the requirement of a large number of system interactions to learn a good control policy. Off-policy and Offline RL methods have been proposed to reduce…

Diffusion-based world models have demonstrated strong capabilities in synthesizing realistic long-horizon trajectories for offline reinforcement learning (RL). However, many existing methods do not directly generate actions alongside states…

Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…

Policy Mirror Descent (PMD) is a powerful and theoretically sound methodology for sequential decision-making. However, it is not directly applicable to Reinforcement Learning (RL) due to the inaccessibility of explicit action-value…

Deploying learned control policies in real-world environments poses a fundamental challenge. When system dynamics change unexpectedly, performance degrades until models are retrained on new data. We introduce Reflexive World Models (RWM), a…

Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without direct interaction with the environment, world models enhance…

World models have recently attracted growing interest in Multi-Agent Reinforcement Learning (MARL) due to their ability to improve sample efficiency for policy learning. However, accurately modeling environments in MARL is challenging due…

Diffusion policies are competitive for offline reinforcement learning (RL) but are typically guided at sampling time by heuristics that lack a statistical notion of risk. We introduce LRT-Diffusion, a risk-aware sampling rule that treats…

The use of guidance to steer sampling toward desired outcomes has been widely explored within diffusion models, especially in applications such as image and trajectory generation. However, incorporating guidance during training remains…

Offline multi-agent reinforcement learning (MARL) aims to solve cooperative decision-making problems in multi-agent systems using pre-collected datasets. Existing offline MARL methods primarily constrain training within the dataset…

Offline Reinforcement Learning (RL) learns optimal policies from fixed datasets, training a policy once and deploying it at inference time without further refinement. Inspired by model predictive control (MPC), we introduce an inference…

Offline multi-agent reinforcement learning (MARL) enables policy learning from fixed datasets, but is prone to coordination failure: agents trained on static, off-policy data converge to suboptimal joint behaviours because they cannot…

Recent advancements in diffusion models have been effective in learning data priors for solving inverse problems. They leverage diffusion sampling steps for inducing a data prior while using a measurement guidance gradient at each step to…

Skill-based reinforcement learning (RL) approaches have shown considerable promise, especially in solving long-horizon tasks via hierarchical structures. These skills, learned task-agnostically from offline datasets, can accelerate the…

Reinforcement learning (RL) can be formulated as a sequence modeling problem, where models predict future actions based on historical state-action-reward sequences. Current approaches typically require long trajectory sequences to model the…

Generative models, particularly diffusion models, have achieved remarkable success in density estimation for multimodal data, drawing significant interest from the reinforcement learning (RL) community, especially in policy modeling in…

Diffusion models have recently gained prominence in offline reinforcement learning due to their ability to effectively learn high-performing, generalizable policies from static datasets. Diffusion-based planners facilitate long-horizon…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we…