相关论文: Trust-Region Twisted Policy Improvement

We introduce a novel approach to the executable semantic object rearrangement problem. In this challenge, a robot seeks to create an actionable plan that rearranges objects within a scene according to a pattern dictated by a natural…

Markov Chain Monte Carlo (MCMC) is a well-established family of algorithms primarily used in Bayesian statistics to sample from a target distribution when direct sampling is challenging. Existing work on Bayesian decision trees uses MCMC.…

This work investigates the Monte Carlo Tree Search (MCTS) method combined with dedicated heuristics for solving the Weighted Vertex Coloring Problem. In addition to the basic MCTS algorithm, we study several MCTS variants where the…

Due to the large combinatorial problem, current beam orientation optimization algorithms for radiotherapy, such as column generation (CG), are typically heuristic or greedy in nature, leading to suboptimal solutions. We propose a…

We consider Monte-Carlo Tree Search (MCTS) applied to Markov Decision Processes (MDPs) and Partially Observable MDPs (POMDPs), and the well-known Upper Confidence bound for Trees (UCT) algorithm. In UCT, a tree with nodes (states) and edges…

We present a Monte-Carlo simulation algorithm for real-time policy improvement of an adaptive controller. In the Monte-Carlo simulation, the long-term expected reward of each possible action is statistically measured, using the initial…

The key to Black-Box Optimization is to efficiently search through input regions with potentially widely-varying numerical properties, to achieve low-regret descent and fast progress toward the optima. Monte Carlo Tree Search (MCTS) methods…

Monte-Carlo Tree Search (MCTS) is a powerful tool for many non-differentiable search related problems such as adversarial games. However, the performance of such approach highly depends on the order of the nodes that are considered at each…

We propose Monte Carlo Permutation Search (MCPS), a general-purpose Monte Carlo Tree Search (MCTS) algorithm that improves upon the GRAVE algorithm. MCPS is relevant when deep reinforcement learning is not an option or when the computing…

Large Language Models (LLMs) harness extensive data from the Internet, storing a broad spectrum of prior knowledge. While LLMs have proven beneficial as decision-making aids, their reliability is hampered by limitations in reasoning,…

Many robotic tasks, such as inverse kinematics, motion planning, and optimal control, can be formulated as optimization problems. Solving these problems involves addressing nonlinear kinematics, complex contact dynamics, long-horizon…

Numerous capability and safety techniques of Large Language Models (LLMs), including RLHF, automated red-teaming, prompt engineering, and infilling, can be cast as sampling from an unnormalized target distribution defined by a given reward…

We introduce Monte Carlo Forest Search (MCFS), a class of reinforcement learning (RL) algorithms for learning policies in {tree MDPs}, for which policy execution involves traversing an exponential-sized tree. Examples of such problems…

Reinforcement learning constantly deals with hard integrals, for example when computing expectations in policy evaluation and policy iteration. These integrals are rarely analytically solvable and typically estimated with the Monte Carlo…

Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…

While recent advances in preference learning have enhanced alignment in human feedback, mathematical reasoning remains a persistent challenge. We investigate how data diversification strategies in preference optimization can improve the…

Conversational Recommender Systems (CRS) proactively engage users in interactive dialogues to elicit user preferences and provide personalized recommendations. Existing methods train Reinforcement Learning (RL)-based agent with greedy…

Deep reinforcement learning (DRL) has achieved great successes in recent years with the help of novel methods and higher compute power. However, there are still several challenges to be addressed such as convergence to locally optimal…

In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable a Deep Neural Network (DNN) to learn the intricate…

Instruction tuning is a crucial technique for aligning language models with humans' actual goals in the real world. Extensive research has highlighted the quality of instruction data is essential for the success of this alignment. However,…