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

Inspired by how humans combine direct interaction with action-free experience (e.g., videos), we study world models that learn from heterogeneous data. Standard world models typically rely on action-conditioned trajectories, which limits…

Model-based methods have recently shown promising for offline reinforcement learning (RL), aiming to learn good policies from historical data without interacting with the environment. Previous model-based offline RL methods learn fully…

We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in continuous control and robot learning tasks using the policy…

Human trajectory data is crucial in urban planning, traffic engineering, and public health. However, directly using real-world trajectory data often faces challenges such as privacy concerns, data acquisition costs, and data quality. A…

With the rapid advancements in wireless communication fields, including low-altitude economies, 6G, and Wi-Fi, the scale of wireless networks continues to expand, accompanied by increasing service quality demands. Traditional deep…

Trajectory Optimization (TO) solvers exploit known system dynamics to compute locally optimal trajectories through iterative improvements. A downside is that each new problem instance is solved independently; therefore, convergence speed…

Current language models demonstrate remarkable proficiency in text generation. However, for many applications it is desirable to control attributes, such as sentiment, or toxicity, of the generated language -- ideally tailored towards each…

Wireless networks are undergoing a paradigm shift toward massive connectivity with energy-efficient operation, driving the integration of satellite-terrestrial architectures with simultaneous wireless information and power transfer (SWIPT).…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

Traditional optimization-based planners, while effective, suffer from high computational costs, resulting in slow trajectory generation. A successful strategy to reduce computation time involves using Imitation Learning (IL) to develop fast…

Masked diffusion models (MDMs) have recently emerged as a novel framework for language modeling. MDMs generate sentences by iteratively denoising masked sequences, filling in [MASK] tokens step by step. Although MDMs support any-order…

Diffusion models have achieved remarkable results in image generation, and have similarly been used to learn high-performing policies in sequential decision-making tasks. Decision-making diffusion models can be trained on lower-quality…

Solving goal-oriented tasks is an important but challenging problem in reinforcement learning (RL). For such tasks, the rewards are often sparse, making it difficult to learn a policy effectively. To tackle this difficulty, we propose a new…

Deep reinforcement learning (RL) algorithms typically parameterize the policy as a deep network that outputs either a deterministic action or a stochastic one modeled as a Gaussian distribution, hence restricting learning to a single…

Policy gradient methods have shown success in learning control policies for high-dimensional dynamical systems. Their biggest downside is the amount of exploration they require before yielding high-performing policies. In a lifelong…

In recent years, diffusion models have demonstrated remarkable potential across diverse domains, from vision generation to language modeling. Transferring its generative capabilities to modern end-to-end autonomous driving systems has also…

One of the most compelling features of global discrete diffusion language models is their global bidirectional contextual capability. However, existing block-based diffusion studies tend to introduce autoregressive priors, which, while…

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable…

This paper studies a distributed policy gradient in collaborative multi-agent reinforcement learning (MARL), where agents over a communication network aim to find the optimal policy to maximize the average of all agents' local returns. Due…

One important property of DIstribution Correction Estimation (DICE) methods is that the solution is the optimal stationary distribution ratio between the optimized and data collection policy. In this work, we show that DICE-based methods…