相关论文: DiffTORI: Differentiable Trajectory Optimization f…

Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. Each action therefore needs tens to…

Programmatic reinforcement learning (PRL) offers an interpretable alternative to deep reinforcement learning by representing policies as human-readable and -editable programs. While gradient-based methods have been developed to optimize…

In complex reinforcement learning (RL) problems, policies with similar rewards may have substantially different behaviors. It remains a fundamental challenge to optimize rewards while also discovering as many diverse strategies as possible,…

Autonomous mobile robots are increasingly used in pedestrian-rich environments where safe navigation and appropriate human interaction are crucial. While Deep Reinforcement Learning (DRL) enables socially integrated robot behavior,…

The primary goal of reinforcement learning is to develop decision-making policies that prioritize optimal performance, frequently without considering safety. In contrast, safe reinforcement learning seeks to reduce or avoid unsafe behavior.…

In this paper, we point out a fundamental property of the objective in reinforcement learning, with which we can reformulate the policy gradient objective into a perceptron-like loss function, removing the need to distinguish between on and…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

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,…

Diffusion MRI (dMRI) provides a distinctive means to probe the microstructural architecture of living tissue, facilitating applications such as brain connectivity analysis, modeling across multiple conditions, and the estimation of…

Trajectory representation learning on a network enhances our understanding of vehicular traffic patterns and benefits numerous downstream applications. Existing approaches using classic machine learning or deep learning embed trajectories…

Inverse reinforcement learning (IRL) aims to explicitly infer an underlying reward function based on collected expert demonstrations. Considering that obtaining expert demonstrations can be costly, the focus of current IRL techniques is on…

A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement learning (MFRL), which is incredibly flexible and general…

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…

Diffusion Transformers (DiTs) have achieved state-of-the-art (SOTA) image generation quality but suffer from high latency and memory inefficiency, making them difficult to deploy on resource-constrained devices. One major efficiency…

A common optimization tool used in deep reinforcement learning is momentum, which consists in accumulating and discounting past gradients, reapplying them at each iteration. We argue that, unlike in supervised learning, momentum in Temporal…

Creating impact in real-world settings requires artificial intelligence techniques to span the full pipeline from data, to predictive models, to decisions. These components are typically approached separately: a machine learning model is…

Tree-based models are widely recognized for their interpretability and have proven effective in various application domains, particularly in high-stakes domains. However, learning decision trees (DTs) poses a significant challenge due to…

Plastic injection molding remains essential to modern manufacturing. However, optimizing process parameters to balance product quality and profitability under dynamic environmental and economic conditions remains a persistent challenge.…

Diffusion magnetic resonance imaging (dMRI) data allow to reconstruct the 3D pathways of axons within the white matter of the brain as a tractography. The analysis of tractographies has drawn attention from the machine learning and pattern…

Skin-friction drag induced by wall-bounded turbulent flows accounts for a substantial fraction of energy consumption across commercial aerospace, wind energy, and marine transport. Its active reduction is one of the highest-value targets in…