相关论文: Improving Transformer World Models for Data-Effici…

Training offline RL models using visual inputs poses two significant challenges, i.e., the overfitting problem in representation learning and the overestimation bias for expected future rewards. Recent work has attempted to alleviate the…

Recent studies have shown that Transformers can perform in-context reinforcement learning (RL) by imitating existing RL algorithms, enabling sample-efficient adaptation to unseen tasks without parameter updates. However, these models also…

Achieving generalizable embodied policies remains a key challenge. Traditional policy learning paradigms, including both Imitation Learning (IL) and Reinforcement Learning (RL), struggle to cultivate generalizability across diverse…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

In this work we describe a novel deep reinforcement learning architecture that allows multiple actions to be selected at every time-step in an efficient manner. Multi-action policies allow complex behaviours to be learnt that would…

Model-based reinforcement learning could enable sample-efficient learning by quickly acquiring rich knowledge about the world and using it to improve behaviour without additional data. Learned dynamics models can be directly used for…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by learning directly from image input. A deep neural network is used as a function approximator and requires no specific state information.…

World Models have vastly permeated the field of Reinforcement Learning. Their ability to model the transition dynamics of an environment have greatly improved sample efficiency in online RL. Among them, the most notorious example is…

Training Memory-based transformers can require a large amount of memory and can be quite inefficient. We propose a novel two-phase training mechanism and a novel regularization technique to improve the training efficiency of memory-based…

A World Model is a generative model used to simulate an environment. World Models have proven capable of learning spatial and temporal representations of Reinforcement Learning environments. In some cases, a World Model offers an agent the…

Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision-Language-Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work…

Recently, video-based world models that learn to simulate the dynamics have gained increasing attention in robot learning. However, current approaches primarily emphasize visual generative quality while overlooking physical fidelity,…

Reinforcement learning (RL) in robotics is often limited by the cost and risk of data collection, motivating experience transfer from a source task to a target task. Offline-to-online RL leverages prior data but typically assumes a given…

Vision-Language-Action (VLA) models trained via imitation learning suffer from significant performance degradation in data-scarce scenarios due to their reliance on large-scale demonstration datasets. Although reinforcement learning…

Transformers achieve state-of-the-art performance for natural language processing tasks by pre-training on large-scale text corpora. They are extremely compute-intensive and have very high sample complexity. Memory replay is a mechanism…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

In this work, we generalize the problem of learning through interaction in a POMDP by accounting for eventual additional information available at training time. First, we introduce the informed POMDP, a new learning paradigm offering a…

Model-based reinforcement learning (RL) offers a solution to the data inefficiency that plagues most model-free RL algorithms. However, learning a robust world model often requires complex and deep architectures, which are computationally…

Model-Free Reinforcement Learning has achieved meaningful results in stable environments but, to this day, it remains problematic in regime changing environments like financial markets. In contrast, model-based RL is able to capture some…

World modelling, i.e. building a representation of the rules that govern the world so as to predict its evolution, is an essential ability for any agent interacting with the physical world. Recent applications of the Transformer…