相关论文: Accurate and Efficient World Modeling with Masked …

This work presents a novel representation learning framework, *interaction-world* latent (IWoL), to facilitate *team coordination* in multi-agent reinforcement learning (MARL). Building effective representation for team coordination is a…

Recent advances in large language model (LLM) have empowered autonomous agents to perform multi-turn interactions with tools and environments. However, scaling such agent training is limited by the lack of diverse and reliable environments.…

With the increasing availability of open-source robotic data, imitation learning has become a promising approach for both manipulation and locomotion. Diffusion models are now widely used to train large, generalized policies that predict…

One of the primary areas of interest in High Performance Computing is the improvement of performance of parallel workloads. Nowadays, compilable source code-based optimization tasks that employ deep learning often exploit LLVM Intermediate…

This paper introduces the concept of Language-Guided World Models (LWMs) -- probabilistic models that can simulate environments by reading texts. Agents equipped with these models provide humans with more extensive and efficient control,…

Access to external knowledge is essential for many natural language processing tasks, such as question answering and dialogue. Existing methods often rely on a parametric model that stores knowledge in its parameters, or use a…

Mapping deep neural networks (DNNs) to hardware is critical for optimizing latency, energy consumption, and resource utilization, making it a cornerstone of high-performance accelerator design. Due to the vast and complex mapping space,…

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments by following natural language instructions. A major challenge in VLN is the limited availability of training data, which hinders the models'…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

The DreamerV3 agent recently demonstrated state-of-the-art performance in diverse domains, learning powerful world models in latent space using a pixel reconstruction loss. However, while the reconstruction loss is essential to Dreamer's…

Humanoid robot loco-manipulation remains constrained by the semantic-physical gap. Current methods face three limitations: Low sample efficiency in reinforcement learning, poor generalization in imitation learning, and physical…

In this work, we generalize the problem of learning through interaction in a POMDP by accounting for eventual additional information available at training time. First, we introduce the informed POMDP, a new learning paradigm offering a…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

The Earth Mover's Distance (EMD) is the measure of choice between point clouds. However the computational cost to compute it makes it prohibitive as a training loss, and the standard approach is to use a surrogate such as the Chamfer…

Conventional optimization-based metering depends on strict adherence to precomputed schedules, which limits the flexibility required for the stochastic operations of Advanced Air Mobility (AAM). In contrast, multi-agent reinforcement…

Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Recent progress in generative models has stimulated significant innovations in many fields, such as image generation and chatbots. Despite their success, these models often produce sketchy and misleading solutions for complex multi-agent…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Exploration efficiency is a challenging problem in multi-agent reinforcement learning (MARL), as the policy learned by confederate MARL depends on the collaborative approach among multiple agents. Another important problem is the less…