相关论文: LeTO: Learning Constrained Visuomotor Policy with …

Autonomous vehicles are controlled today either based on sequences of decoupled perception-planning-action operations, either based on End2End or Deep Reinforcement Learning (DRL) systems. Current deep learning solutions for autonomous…

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these locomotion skills with the precise control of…

Constraint handling plays a key role in solving realistic complex optimization problems. Though intensively discussed in the last few decades, existing constraint handling techniques predominantly rely on human experts' designs, which more…

Robotic foundation models require reasoning over complex visual scenes to execute adaptive actions in dynamic environments. While recent studies on latent-reasoning Vision-Language-Action (VLA) models have demonstrated the capability to…

Topology optimization (TO) is a method of deriving an optimal design that satisfies a given load and boundary conditions within a design domain. This method enables effective design without initial design, but has been limited in use due to…

Learned optimizers -- neural networks that are trained to act as optimizers -- have the potential to dramatically accelerate training of machine learning models. However, even when meta-trained across thousands of tasks at huge…

Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…

The emerging field of action prediction plays a vital role in various computer vision applications such as autonomous driving, activity analysis and human-computer interaction. Despite significant advancements, accurately predicting future…

In this work, we study optimization methods that leverage the linear minimization oracle (LMO) over a norm-ball. We propose a new stochastic family of algorithms that uses the LMO to adapt to the geometry of the problem and, perhaps…

Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual…

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…

Learning options that allow agents to exhibit temporally higher order behavior has proven to be useful in increasing exploration, reducing sample complexity and for various transfer scenarios. Deep Discovery of Options (DDO) is a generative…

The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…

Steering Large Language Models (LLMs) through activation interventions has emerged as a lightweight alternative to fine-tuning for alignment and personalization. Recent work on Bi-directional Preference Optimization (BiPO) shows that dense…

The escalating demand for long-context applications has intensified the necessity of extending the LLM context windows. Despite recent fine-tuning approaches successfully expanding context lengths, their high memory footprints, especially…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…

End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from a common limitation, lacking the ability to recover from an…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

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…