相关论文: Discrete Codebook World Models for Continuous Cont…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

Visual control policies can encounter significant performance degradation when visual conditions like lighting or camera position differ from those seen during training -- often exhibiting sharp declines in capability even for minor…

A critical bottleneck in deep reinforcement learning (DRL) is sample inefficiency, as training high-performance agents often demands extensive environmental interactions. Model-based reinforcement learning (MBRL) mitigates this by building…

Offline meta-reinforcement learning seeks to learn policies that generalize across related tasks from fixed datasets. Context-based methods infer a task representation from transition histories, but learning effective task representations…

Tool use in stateful environments presents unique challenges for large language models (LLMs), where existing test-time compute strategies relying on repeated trials in the environment are impractical. We propose dynamics modelling (DyMo),…

Learning-based controllers are often purposefully kept out of real-world applications due to concerns about their safety and reliability. We explore how state-of-the-art world models in Model-Based Reinforcement Learning can be utilized…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

Humans leverage rich internal models of the world to reason about the future, imagine counterfactuals, and adapt flexibly to new situations. In Reinforcement Learning (RL), world models aim to capture how the environment evolves in response…

Data-driven model predictive control has two key advantages over model-free methods: a potential for improved sample efficiency through model learning, and better performance as computational budget for planning increases. However, it is…

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…

Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…

World models enable agents to predict future dynamics conditioned on actions, making the choice of latent representation central to planning and control. Such representations are often either learned directly from pixels with limited…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

We argue that diffusion models' success in modeling complex distributions is, for the most part, coming from their input conditioning. This paper investigates the representation used to condition diffusion models from the perspective that…

Modeling the world can benefit robot learning by providing a rich training signal for shaping an agent's latent state space. However, learning world models in unconstrained environments over high-dimensional observation spaces such as…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…

Autonomous navigation of terrestrial robots using Reinforcement Learning (RL) from LIDAR observations remains challenging due to the high dimensionality of sensor data and the sample inefficiency of model-free approaches. Conventional…