相关论文: Planning Transformer: Long-Horizon Offline Reinfor…

Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study the…

Large language models (LLMs) augmented with multi-step reasoning and action generation abilities have shown promise in leveraging external tools to tackle complex tasks that require long-horizon planning. However, existing approaches either…

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…

Despite the recent advancements in offline RL, no unified algorithm could achieve superior performance across a broad range of tasks. Offline \textit{value function learning}, in particular, struggles with sparse-reward, long-horizon tasks…

In model-based reinforcement learning, the agent interleaves between model learning and planning. These two components are inextricably intertwined. If the model is not able to provide sensible long-term prediction, the executed planner…

Inspired by the success of the Transformer architecture in natural language processing and computer vision, we investigate the use of Transformers in Reinforcement Learning (RL), specifically in modeling the environment's dynamics using…

Language model (LM)-based agents have demonstrated promising capabilities in automating complex tasks from natural language instructions, yet they continue to struggle with long-horizon planning and reasoning. To address this, we propose an…

Reinforcement learning-based path planning for multi-agent systems of varying size constitutes a research topic with increasing significance as progress in domains such as urban air mobility and autonomous aerial vehicles continues.…

Reinforcement Learning (RL) is essential for evolving Large Language Models (LLMs) into autonomous agents capable of long-horizon planning, yet a practical recipe for scaling RL in complex, multi-turn environments remains elusive. This…

Automaton based approaches have enabled robots to perform various complex tasks. However, most existing automaton based algorithms highly rely on the manually customized representation of states for the considered task, limiting its…

In this paper we propose a Deep Reinforcement Learning approach to solve a multimodal transportation planning problem, in which containers must be assigned to a truck or to trains that will transport them to their destination. While…

Modern language models predict the next token in the sequence by considering the past text through a powerful function such as attention. However, language models have no explicit mechanism that allows them to spend computation time for…

As humans, our goals and our environment are persistently changing throughout our lifetime based on our experiences, actions, and internal and external drives. In contrast, typical reinforcement learning problem set-ups consider decision…

Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a local planner. These systems are sensitive to global path…

Offline Reinforcement Learning (RL) has emerged as a powerful alternative to imitation learning for behavior modeling in various domains, particularly in complex navigation tasks. An existing challenge with Offline RL is the signal-to-noise…

The real world is unpredictable. Therefore, to solve long-horizon decision-making problems with autonomous robots, we must construct agents that are capable of adapting to changes in the environment during deployment. Model-based planning…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

Reinforcement learning (RL) is typically concerned with estimating stationary policies or single-step models, leveraging the Markov property to factorize problems in time. However, we can also view RL as a generic sequence modeling problem,…

A large part of the interest in model-based reinforcement learning derives from the potential utility to acquire a forward model capable of strategic long term decision making. Assuming that an agent succeeds in learning a useful predictive…