相关论文: State-Covering Trajectory Stitching for Diffusion …

Offline Goal-Conditioned Reinforcement Learning (Offline GCRL) is an important problem in RL that focuses on acquiring diverse goal-oriented skills solely from pre-collected behavior datasets. In this setting, the reward feedback is…

In offline reinforcement learning (RL), the performance of the learned policy highly depends on the quality of offline datasets. However, in many cases, the offline dataset contains very limited optimal trajectories, which poses a challenge…

In many real-world applications, collecting large and high-quality datasets may be too costly or impractical. Offline reinforcement learning (RL) aims to infer an optimal decision-making policy from a fixed set of data. Getting the most…

Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limited to solving tasks similar to those seen in their training…

Behavioural cloning (BC) is a commonly used imitation learning method to infer a sequential decision-making policy from expert demonstrations. However, when the quality of the data is not optimal, the resulting behavioural policy also…

Offline reinforcement learning (RL) enables agents to learn optimal policies from pre-collected datasets. However, datasets containing suboptimal and fragmented trajectories present challenges for reward propagation, resulting in inaccurate…

Offline reinforcement learning (RL) enables agents to learn policies from fixed datasets, avoiding costly or unsafe environment interactions. However, its effectiveness is often limited by dataset sparsity and the lack of transition overlap…

Reasoning with large language models often benefits from generating multiple chains-of-thought, but existing aggregation strategies are typically trajectory-level (e.g., selecting the best trace or voting on the final answer), discarding…

Imitation learning (IL) has proven effective for enabling robots to acquire visuomotor skills through expert demonstrations. However, traditional IL methods are limited by their reliance on high-quality, often scarce, expert data, and…

Existing offline hierarchical reinforcement learning methods rely on high-level policy learning to generate subgoal sequences. However, their efficiency degrades as task horizons increase, and they lack effective strategies for stitching…

The efficient Test-Time Scaling (TTS) paradigm offers a promising perspective for enhancing the generation performance of diffusion models. However, current solutions are limited to a static, pre-defined noise pool and suffer from…

Diffusion models have shown strong competitiveness in offline reinforcement learning tasks by formulating decision-making as sequential generation. However, the practicality of these methods is limited due to the lengthy inference processes…

Off-policy evaluation (OPE) estimates the performance of a target policy using offline data collected from a behavior policy, and is crucial in domains such as robotics or healthcare where direct interaction with the environment is costly…

While diffusion models have shown exceptional capabilities in aesthetic image synthesis, they often struggle with complex spatial understanding and reasoning. Existing approaches resort to Multimodal Large Language Models (MLLMs) to enhance…

Diffusion models operate in a reflexive System 1 mode, constrained by a fixed, content-agnostic sampling schedule. This rigidity arises from the curse of state dimensionality, where the combinatorial explosion of possible states in the…

High-quality GPS trajectories are essential for location-based web services and smart city applications, including navigation, ride-sharing and delivery. However, due to low sampling rates and limited infrastructure coverage during data…

Diffusion-based generative methods have shown promising potential for modeling trajectories from offline reinforcement learning (RL) datasets, and hierarchical diffusion has been introduced to mitigate variance accumulation and…

Generative models have shown great promise as trajectory planners, given their affinity to modeling complex distributions and guidable inference process. Previous works have successfully applied these in the context of robotic manipulation…

Sampling from diffusion probabilistic models (DPMs) is often expensive for high-quality image generation and typically requires many steps with a large model. In this paper, we introduce sampling Trajectory Stitching T-Stitch, a simple yet…

Diffusion-based and iterative methods have become effective tools for solving imaging inverse problems. Their reconstruction process naturally forms a trajectory of intermediate estimates. Although these intermediate estimates define a…