相关论文: Adapting World Models with Latent-State Dynamics R…

Reinforcement Learning (RL) is an area of growing interest in the field of artificial intelligence due to its many notable applications in diverse fields. Particularly within the context of intelligent vehicle control, RL has made…

This paper proposes a novel adaptive guidance system developed using reinforcement meta-learning with a recurrent policy and value function approximator. The use of recurrent network layers allows the deployed policy to adapt real time to…

Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. However, the reconstruction-oriented representation learning…

In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences.…

Delays frequently occur in real-world environments, yet standard reinforcement learning (RL) algorithms often assume instantaneous perception of the environment. We study random sensor delays in POMDPs, where observations may arrive…

Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this paper, we first integrate buoyancy and hydrodynamics models…

Offline reinforcement learning (RL) represents a significant shift in RL research, allowing agents to learn from pre-collected datasets without further interaction with the environment. A key, yet underexplored, challenge in offline RL is…

Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…

Learning to coordinate many agents in partially observable and highly dynamic environments requires both informative representations and data-efficient training. To address this challenge, we present a novel model-based multi-agent…

Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…

World models aim to learn action-controlled future prediction and have proven essential for the development of intelligent agents. However, most existing world models rely heavily on substantial action-labeled data and costly training,…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Reinforcement learning (RL) is widely used in autonomous driving tasks and training RL models typically involves in a multi-step process: pre-training RL models on simulators, uploading the pre-trained model to real-life robots, and…

Learning task-agnostic dynamics models in high-dimensional observation spaces can be challenging for model-based RL agents. We propose a novel way to learn latent world models by learning to predict sequences of future actions conditioned…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

Robots have been successfully used to perform tasks with high precision. In real-world environments with sparse rewards and multiple goals, learning is still a major challenge and Reinforcement Learning (RL) algorithms fail to learn good…

Visual Reinforcement Learning is a popular and powerful framework that takes full advantage of the Deep Learning breakthrough. It is known that variations in input domains (e.g., different panorama colors due to seasonal changes) or task…

Reinforcement Learning (RL) or Deep Reinforcement Learning (DRL) is a powerful approach to solving Markov Decision Processes (MDPs) when the model of the environment is not known a priori. However, RL models are still faced with challenges…

Reinforcement learning (RL) algorithms have been successfully used to develop control policies for dynamical systems. For many such systems, these policies are trained in a simulated environment. Due to discrepancies between the simulated…