相关论文: Hierarchical Equivariant Policy via Frame Transfer

Methods of deep machine learning enable to to reuse low-level representations efficiently for generating more abstract high-level representations. Originally, deep learning has been applied passively (e.g., for classification purposes).…

Deep Reinforcement Learning has shown its ability in solving complicated problems directly from high-dimensional observations. However, in end-to-end settings, Reinforcement Learning algorithms are not sample-efficient and requires long…

The transport capacity of a communication network can be characterized by the transition from a free-flow state to a congested state. Here, we propose a dynamic routing strategy in complex networks based on hierarchical bypass selections.…

When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition…

Large-scale multi-agent pathfinding (MAPF) presents significant challenges in several areas. As systems grow in complexity with a multitude of autonomous agents operating simultaneously, efficient and collision-free coordination becomes…

We present a convolutional framework which significantly reduces the complexity and thus, the computational effort for distributed reinforcement learning control of dynamical systems governed by partial differential equations (PDEs).…

Due to recent empirical successes, the options framework for hierarchical reinforcement learning is gaining increasing popularity. Rather than learning from rewards which suffers from the curse of dimensionality, we consider learning an…

Reinforcement learning practitioners often avoid hierarchical policies, especially in image-based observation spaces. Typically, the single-task performance improvement over flat-policy counterparts does not justify the additional…

Taxonomy is a hierarchically structured knowledge graph that plays a crucial role in machine intelligence. The taxonomy expansion task aims to find a position for a new term in an existing taxonomy to capture the emerging knowledge in the…

This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…

In autonomous driving, deep learning enabled motion prediction is a popular topic. A critical gap in traditional motion prediction methodologies lies in ensuring equivariance under Euclidean geometric transformations and maintaining…

Online service platforms offering a wide range of services through miniapps have become crucial for users who visit these platforms with clear intentions to find services they are interested in. Aiming at effective content delivery,…

Using entropy as a measure of heterogeneity to guide optimization has emerged as a crucial research direction in Reinforcement Learning for LLMs. However, existing methods typically treat it as a discrete filter or post-hoc regulator rather…

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically,…

Test-time adaptation allows pretrained models to adjust to incoming data streams, addressing distribution shifts between source and target domains. However, standard methods rely on single-dimensional linear classification layers, which…

The current thesis aims to explore the reinforcement learning field and build on existing methods to produce improved ones to tackle the problem of learning in high-dimensional and complex environments. It addresses such goals by…

Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical architectures improve temporal reasoning and bilateral imitation…

To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…

In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual…