相关论文: Exploration and Adaptation in Non-Stationary Tasks…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Self-play reinforcement learning has demonstrated significant success in learning complex strategic and interactive behaviors in competitive multi-agent games. However, achieving such behaviors in continuous decision spaces remains…

Latent diffusion models are the state-of-the-art for synthetic image generation. To align these models with human preferences, training the models using reinforcement learning on human feedback is crucial. Black et. al 2024 introduced…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

Online learning with streaming data in a distributed and collaborative manner can be useful in a wide range of applications. This topic has been receiving considerable attention in recent years with emphasis on both single-task and…

Integrating generative models with action chunking has shown significant promise in imitation learning for robotic manipulation. However, the existing diffusion-based paradigm often struggles to capture strong temporal dependencies across…

We present a novel perspective on goal-conditioned reinforcement learning by framing it within the context of denoising diffusion models. Analogous to the diffusion process, where Gaussian noise is used to create random trajectories that…

Recent advances in reinforcement learning (RL) have demonstrated the powerful exploration capabilities and multimodality of generative diffusion-based policies. While substantial progress has been made in offline RL and off-policy RL…

Score-based generative models like the diffusion model have been testified to be effective in modeling multi-modal data from image generation to reinforcement learning (RL). However, the inference process of diffusion model can be slow,…

The policy gradient method enjoys the simplicity of the objective where the agent optimizes the cumulative reward directly. Moreover, in the continuous action domain, parameterized distribution of action distribution allows easy control of…

Reinforcement Learning (RL) agents often struggle with inefficient exploration, particularly in environments with sparse rewards. Traditional exploration strategies can lead to slow learning and suboptimal performance because agents fail to…

Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning (RL) methods often yield a fixed policy that can be…

Deep reinforcement learning (DRL) has long been a promising solution for sequential resource management in wireless networks. However, conventional DRL methods are fundamentally limited by their reliance on unimodal policy distributions,…

Efficiently aligning large-scale video diffusion models with human intent requires a scalable and trajectory-aware pathway that bridges the inherent discrepancy between training noise distributions and practical inference trajectories.…

Artificial neural networks, especially recent diffusion-based models, have shown remarkable superiority in gaming, control, and QA systems, where the training tasks' datasets are usually static. However, in real-world applications, such as…

Non-stationary environments are challenging for reinforcement learning algorithms. If the state transition and/or reward functions change based on latent factors, the agent is effectively tasked with optimizing a behavior that maximizes…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…