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

Offline reinforcement learning (RL) methods harness previous experiences to derive an optimal policy, forming the foundation for pre-trained large-scale models (PLMs). When encountering tasks not seen before, PLMs often utilize several…

Trajectory data is essential for various applications as it records the movement of vehicles. However, publicly available trajectory datasets remain limited in scale due to privacy concerns, which hinders the development of trajectory data…

At the core of reinforcement learning is the idea of learning beyond the performance in the data. However, scaling such systems has proven notoriously tricky. In contrast, techniques from generative modeling have proven remarkably scalable…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

Offline Goal-Conditioned Reinforcement Learning (Offline GCRL) is an important problem in RL that focuses on acquiring diverse goal-oriented skills solely from pre-collected behavior datasets. In this setting, the reward feedback is…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

Generative modeling has drawn much attention in creative and scientific data generation tasks. Score-based Diffusion Models, a type of generative model that iteratively learns to denoise data, have shown state-of-the-art results on tasks…

Offline reinforcement learning (RL), which aims to learn an optimal policy using a previously collected static dataset, is an important paradigm of RL. Standard RL methods often perform poorly in this regime due to the function…

Offline reinforcement learning (RL) recovers the optimal policy $\pi$ given historical observations of an agent. In practice, $\pi$ is modeled as a weighted version of the agent's behavior policy $\mu$, using a weight function $w$ working…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous…

With the proliferation of location-aware devices, large amount of trajectories have been generated when agents such as people, vehicles and goods flow around the urban environment. These raw trajectories, typically collected from various…

Closed-loop evaluation of autonomous-driving policies requires interactive simulation beyond log replay. However, existing generative world models often degrade in closed loop due to (i) history-free initialization that mismatches policy…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

Policy gradient methods, which have been extensively studied in the last decade, offer an effective and efficient framework for reinforcement learning problems. However, their performances can often be unsatisfactory, suffering from…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidirectional decoding has proven effective in boosting the…

World models power some of the most efficient reinforcement learning algorithms. In this work, we showcase that they can be harnessed for continual learning - a situation when the agent faces changing environments. World models typically…

We apply diffusion strategies to develop a fully-distributed cooperative reinforcement learning algorithm in which agents in a network communicate only with their immediate neighbors to improve predictions about their environment. The…

World models have recently gained prominence for action-conditioned visual prediction in complex environments. However, relying on only a few recent observations causes them to lose long-term context. Consequently, within a few steps, the…