相关论文: Benchmarking Massively Parallelized Multi-Task Rei…

At present, robots typically require extensive training to successfully accomplish a single task. However, to truly enhance their usefulness in real-world scenarios, robots should possess the capability to perform multiple tasks…

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…

Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. However, these approaches have been limited to learning simple…

Multi-task learning (MTL) is a machine learning paradigm that aims to improve the generalization performance of a model on multiple related tasks by training it simultaneously on those tasks. Unlike MTL, where the model has instant access…

A fundamental challenge in multi-task reinforcement learning (MTRL) is achieving sample efficiency in visual domains where tasks exhibit substantial heterogeneity in both observations and dynamics. Model-based reinforcement learning offers…

Reinforcement learning (RL) problems can be challenging without well-shaped rewards. Prior work on provably efficient RL methods generally proposes to address this issue with dedicated exploration strategies. However, another way to tackle…

Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…

Multimodal large language models (MLLMs) have advanced rapidly, yet heterogeneity in architecture, alignment strategies, and efficiency means that no single model is uniformly superior across tasks. In practical deployments, workloads span…

Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging due to the quadrupeds' nonlinear dynamics, high degrees of…

Trajectory planning is a core task in autonomous driving, requiring the prediction of safe and comfortable paths across diverse scenarios. Integrating Multi-modal Large Language Models (MLLMs) with Reinforcement Learning (RL) has shown…

We study multi-task reinforcement learning (RL) in tabular episodic Markov decision processes (MDPs). We formulate a heterogeneous multi-player RL problem, in which a group of players concurrently face similar but not necessarily identical…

Reinforcement Learning (RL) is an important machine learning paradigm for solving sequential decision-making problems. Recent years have witnessed remarkable progress in this field due to the rapid development of deep neural networks.…

Efficient task scheduling in large-scale distributed systems presents significant challenges due to dynamic workloads, heterogeneous resources, and competing quality-of-service requirements. Traditional centralized approaches face…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

Urban search and rescue missions require rapid first response to minimize loss of life and damage. Often, such efforts are assisted by humanitarian robots which need to handle dynamic operational conditions such as uneven and rough…

In order to create machine learning systems that serve a variety of users well, it is vital to not only achieve high average performance but also ensure equitable outcomes across diverse groups. However, most machine learning methods are…

Model Predictive Control (MPC) and Reinforcement Learning (RL) are two prominent strategies for controlling legged robots, each with unique strengths. RL learns control policies through system interaction, adapting to various scenarios,…

While the promises of Multi-Task Learning (MTL) are attractive, characterizing the conditions of its success is still an open problem in Deep Learning. Some tasks may benefit from being learned together while others may be detrimental to…

Large vision-language models struggle with medical video understanding, where spatial precision, temporal reasoning, and clinical semantics are critical. To address this, we first introduce \textbf{MedVidBench}, a large-scale benchmark of…

In this work, we present and study a training set-up that achieves fast policy generation for real-world robotic tasks by using massive parallelism on a single workstation GPU. We analyze and discuss the impact of different training…