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

Verifying closed-loop vision-based control systems remains a fundamental challenge due to the high dimensionality of images and the difficulty of modeling visual environments. While generative models are increasingly used as camera…

World models paired with model predictive control (MPC) can be trained offline on large-scale datasets of expert trajectories and enable generalization to a wide range of planning tasks at inference time. Compared to traditional MPC…

Visual navigation requires agents to reach goals in complex environments through perception and planning. World models address this task by simulating action-conditioned state transitions to predict future observations. Current navigation…

We propose a fully decentralized multi-agent world model that enables both symbol emergence for communication and coordinated behavior through temporal extension of collective predictive coding. Unlike previous research that focuses on…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited…

Large reasoning models (LRMs) excel on complex problems but face a critical barrier to efficiency: reinforcement learning (RL) training requires long rollouts for outcome-based rewards, where autoregressive decoding dominates time and…

The automatic control of mobile devices is essential for efficiently performing complex tasks that involve multiple sequential steps. However, these tasks pose significant challenges due to the limited environmental information available at…

World models predict state transitions in response to actions and are increasingly developed across diverse modalities. However, standard training objectives such as maximum likelihood estimation (MLE) often misalign with task-specific…

State-space models (SSMs) offer a powerful framework for dynamical system analysis, wherein the temporal dynamics of the system are assumed to be captured through the evolution of the latent states, which govern the values of the…

We introduce a new class of time-continuous recurrent neural network models. Instead of declaring a learning system's dynamics by implicit nonlinearities, we construct networks of linear first-order dynamical systems modulated via nonlinear…

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…

Robotic manipulation policies are commonly initialized through imitation learning, but their performance is limited by the scarcity and narrow coverage of expert data. Reinforcement learning can refine polices to alleviate this limitation,…

Despite achieving remarkable success in complex tasks, Deep Reinforcement Learning (DRL) is still suffering from critical issues in practical applications, such as low data efficiency, lack of interpretability, and limited cross-environment…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…

Rapid development of large-scale pre-training has resulted in foundation models that can act as effective feature extractors on a variety of downstream tasks and domains. Motivated by this, we study the efficacy of pre-trained vision models…

A robust Learning Model Predictive Controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task the closed-loop state, input and cost are stored and used in the controller design.…

Agentic reinforcement learning increasingly relies on experience-driven scaling, yet real-world environments remain non-adaptive, limited in coverage, and difficult to scale. World models offer a potential way to improve learning efficiency…

World model based reinforcement learning (RL) has emerged as a promising approach for autonomous driving, which learns a latent dynamics model and uses it to train a planning policy. To speed up the learning process, the pretrain-finetune…