相关论文: Generation of Geodesics with Actor-Critic Reinforc…

Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guidance points--a novel directional cue within a reinforcement…

Policy gradient methods are widely used in reinforcement learning algorithms to search for better policies in the parameterized policy space. They do gradient search in the policy space and are known to converge very slowly. Nesterov…

Multimodal Large Language Models (MLLMs) have significantly advanced vision-language understanding. However, even state-of-the-art models struggle with geometric reasoning, revealing a critical bottleneck: the extreme scarcity of…

General purpose intelligent learning agents cycle through (complex,non-MDP) sequences of observations, actions, and rewards. On the other hand, reinforcement learning is well-developed for small finite state Markov Decision Processes…

We study Reinforcement Learning for partially observable dynamical systems using function approximation. We propose a new \textit{Partially Observable Bilinear Actor-Critic framework}, that is general enough to include models such as…

In computational reinforcement learning, a growing body of work seeks to construct an agent's perception of the world through predictions of future sensations; predictions about environment observations are used as additional input features…

We consider the question of speeding up classic graph algorithms with machine-learned predictions. In this model, algorithms are furnished with extra advice learned from past or similar instances. Given the additional information, we aim to…

Computing geodesics for Riemannian manifolds is a difficult task that often relies on numerical approximations. However, these approximations tend to be either numerically unstable, have slow convergence, or scale poorly with manifold…

A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…

In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…

Manifold models provide low-dimensional representations that are useful for processing and analyzing data in a transformation-invariant way. In this paper, we study the problem of learning smooth pattern transformation manifolds from image…

Geophysical inversion should ideally produce geologically realistic subsurface models that explain the available data. Multiple-point statistics is a geostatistical approach to construct subsurface models that are consistent with…

Decentralized (PO)MDPs provide an expressive framework for sequential decision making in a multiagent system. Given their computational complexity, recent research has focused on tractable yet practical subclasses of Dec-POMDPs. We address…

In this work, we consider policy-based methods for solving the reinforcement learning problem, and establish the sample complexity guarantees. A policy-based algorithm typically consists of an actor and a critic. We consider using various…

On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…

In robust combinatorial optimization with discrete uncertainty, two general approximation algorithms are frequently used, which are both based on constructing a single scenario representing the whole uncertainty set. In the midpoint method,…

Deep generative models are tremendously successful in learning low-dimensional latent representations that well-describe the data. These representations, however, tend to much distort relationships between points, i.e. pairwise distances…

We introduce a new method of generating Computer Aided Design (CAD) profiles via a sequence of simple geometric constructions including curve offsetting, rotations and intersections. These sequences start with geometry provided by a…

In cooperative stochastic games multiple agents work towards learning joint optimal actions in an unknown environment to achieve a common goal. In many real-world applications, however, constraints are often imposed on the actions that can…

Actor-critic algorithms learn an explicit policy (actor), and an accompanying value function (critic). The actor performs actions in the environment, while the critic evaluates the actor's current policy. However, despite their stability…