相关论文: Beyond A*: Better Planning with Transformers via S…

Reinforcement learning allows solving complex tasks, however, the learning tends to be task-specific and the sample efficiency remains a challenge. We present Plan2Explore, a self-supervised reinforcement learning agent that tackles both…

Code pre-trained models (CodePTMs) have recently demonstrated a solid capacity to process various software intelligence tasks, e.g., code clone detection, code translation, and code summarization. The current mainstream method that deploys…

Transformers exhibit great advantages in handling computer vision tasks. They model image classification tasks by utilizing a multi-head attention mechanism to process a series of patches consisting of split images. However, for complex…

Humans and animals show remarkable learning efficiency, adapting to new environments with minimal experience. This capability is not well captured by standard reinforcement learning algorithms that rely on incremental value updates. Rapid…

Recent advancements in imitation learning have led to transformer-based behavior foundation models (BFMs) that enable multi-modal, human-like control for humanoid agents. While excelling at zero-shot generation of robust behaviors, BFMs…

This paper investigates the performance of transformer-based architectures for person identification in natural, face-to-face conversation scenario. We implement and evaluate a two-stream framework that separately models spatial…

Deep network architectures struggle to continually learn new tasks without forgetting the previous tasks. A recent trend indicates that dynamic architectures based on an expansion of the parameters can reduce catastrophic forgetting…

Recent work in deep learning has opened new possibilities for solving classical algorithmic tasks using end-to-end learned models. In this work, we investigate the fundamental task of solving linear systems, particularly those that are…

Transformers demonstrate impressive performance on a range of reasoning benchmarks. To evaluate the degree to which these abilities are a result of actual reasoning, existing work has focused on developing sophisticated benchmarks for…

We present a hierarchical neuro-symbolic control framework that tightly couples a classical symbolic planner with a transformer-based policy to address long-horizon decision-making under uncertainty. At the high level, the planner assembles…

Recurrent neural networks are effective models to process sequences. However, they are unable to learn long-term dependencies because of their inherent sequential nature. As a solution, Vaswani et al. introduced the Transformer, a model…

This paper addresses the problem of learning abstractions that boost robot planning performance while providing strong guarantees of reliability. Although state-of-the-art hierarchical robot planning algorithms allow robots to efficiently…

Decision trees are renowned for their ability to achieve high predictive performance while remaining interpretable, especially on tabular data. Traditionally, they are constructed through recursive algorithms, where they partition the data…

Decision Transformer-based decision-making agents have shown the ability to generalize across multiple tasks. However, their performance relies on massive data and computation. We argue that this inefficiency stems from the forgetting…

While language models have shown remarkable performance across diverse tasks, they still encounter challenges in complex reasoning scenarios. Recent research suggests that language models trained on linearized search traces toward…

We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they…

Transformer architectures dominate modern NLP but often demand heavy computational resources and intricate hyperparameter tuning. To mitigate these challenges, we propose a novel framework, BoostTransformer, that augments transformers with…

Utilizing transformer architectures for semantic segmentation of high-resolution images is hindered by the attention's quadratic computational complexity in the number of tokens. A solution to this challenge involves decreasing the number…

Symbolic regression (SR) is a challenging task in machine learning that involves finding a mathematical expression for a function based on its values. Recent advancements in SR have demonstrated the effectiveness of pre-trained…

Planning for systems with dynamics is challenging as often there is no local planner available and the only primitive to explore the state space is forward propagation of controls. In this context, tree sampling-based planners have been…