相关论文: Progressive-Resolution Policy Distillation: Levera…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

Reasoning models think out loud, but much of what they say is noise. We introduce CRISP (Compressed Reasoning via Iterative Self-Policy Distillation), a method that teaches models to reason more concisely by distilling their own concise…

Diffusion models have become a central tool in deep generative modeling, but standard formulations rely on a single network and a single diffusion schedule to transform a simple prior, typically a standard normal distribution, into the…

Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose high dimensionality includes substantial task-irrelevant…

Universal force fields generalizable across the periodic table represent a new trend in computational materials science. However, the applications of universal force fields in material simulations are limited by their slow inference speed…

Conservation laws are considered to be fundamental laws of nature. It has broad applications in many fields, including physics, chemistry, biology, geology, and engineering. Solving the differential equations associated with conservation…

Molecular simulations of the forced unfolding and refolding of biomolecules or molecular complexes allow to gain important kinetic, structural and thermodynamic information about the folding process and the underlying energy landscape. In…

Neural Radiance Fields (NeRF) methods have proved effective as compact, high-quality and versatile representations for 3D scenes, and enable downstream tasks such as editing, retrieval, navigation, etc. Various neural architectures are…

In recent years, humanoid robots have garnered significant attention from both academia and industry due to their high adaptability to environments and human-like characteristics. With the rapid advancement of reinforcement learning,…

Deep reinforcement learning (DRL) is one of the promising approaches for introducing robots into complicated environments. The recent remarkable progress of DRL stands on regularization of policy, which allows the policy to improve stably…

In multi-task reinforcement learning there are two main challenges: at training time, the ability to learn different policies with a single model; at test time, inferring which of those policies applying without an external signal. In the…

In this paper we study online Reinforcement Learning (RL) in partially observable dynamical systems. We focus on the Predictive State Representations (PSRs) model, which is an expressive model that captures other well-known models such as…

Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks introduced by pre-training with behavioral cloning (BC), which produces narrow action distributions that lack the coverage necessary for…

Dataset distillation compresses a large dataset into a small synthetic dataset such that learning on the synthetic dataset approximates learning on the original. Training on the distilled dataset can be performed in as little as one step of…

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…

Large-scale finite element simulations of complex physical systems governed by partial differential equations (PDE) crucially depend on adaptive mesh refinement (AMR) to allocate computational budget to regions where higher resolution is…

On-policy distillation is pivotal for transferring reasoning capabilities to capacity-constrained models, yet remains prone to instability and negative transfer. We show that on-policy distillation can be interpreted, both theoretically and…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

We propose Algorithm Distillation (AD), a method for distilling reinforcement learning (RL) algorithms into neural networks by modeling their training histories with a causal sequence model. Algorithm Distillation treats learning to…

Reinforcement learning (RL) is a powerful tool for finding optimal policies in sequential decision processes. However, deep RL methods have two weaknesses: collecting the amount of agent experience required for practical RL problems is…