相关论文: Toward Deployable Multi-Robot Collaboration via a …

This paper presents a novel approach to building mission planners based on neural networks with Transformer architecture and Large Language Models (LLMs). This approach demonstrates the possibility of setting a task for a mobile robot and…

We build a Generative Pre-trained Transformer (GPT) model from scratch to solve sequential decision making tasks arising in contexts of operations research and management science which we call OMGPT. We first propose a general sequence…

Discovering the symbols and rules that can be used in long-horizon planning from a robot's unsupervised exploration of its environment and continuous sensorimotor experience is a challenging task. The previous studies proposed learning…

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…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

We present a hierarchical neuro-symbolic control framework that tightly couples a classical symbolic planner with a transformer-based policy to address long-horizon decision-making under uncertainty. At the high level, the planner assembles…

Safe reinforcement learning (RL) trains a constraint satisfaction policy by interacting with the environment. We aim to tackle a more challenging problem: learning a safe policy from an offline dataset. We study the offline safe RL problem…

Gradient Boosted Decision Tree (GBDT) is a widely-used machine learning algorithm that has been shown to achieve state-of-the-art results on many standard data science problems. We are interested in its application to multioutput problems…

The purpose of offline multi-task reinforcement learning (MTRL) is to develop a unified policy applicable to diverse tasks without the need for online environmental interaction. Recent advancements approach this through sequence modeling,…

Spatial Transformer Networks (STN) can generate geometric transformations which modify input images to improve the classifier's performance. In this work, we combine the idea of STN with Reinforcement Learning (RL). To this end, we break…

Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…

In robotic domains, learning and planning are complicated by continuous state spaces, continuous action spaces, and long task horizons. In this work, we address these challenges with Neuro-Symbolic Relational Transition Models (NSRTs), a…

The linear Markov Decision Process (MDP) framework offers a principled foundation for reinforcement learning (RL) with strong theoretical guarantees and sample efficiency. However, its restrictive assumption-that both transition dynamics…

In multi-task reinforcement learning (RL) under Markov decision processes (MDPs), the presence of shared latent structures among multiple MDPs has been shown to yield significant benefits to the sample efficiency compared to single-task RL.…

Digital twin (DT) technology enables real-time simulation, prediction, and optimization of physical systems, but practical deployment faces challenges from high data requirements, proprietary data constraints, and limited adaptability to…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

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…

Multimodal large language models (MLLMs) have advanced rapidly in recent years. However, existing approaches for vision tasks often rely on indirect representations, such as generating coordinates as text for detection, which limits…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Semantic GP is a promising approach that introduces semantic awareness during genetic evolution. This paper presents a new Semantic GP approach based on Dynamic Target (SGP-DT) that divides the search problem into multiple GP runs. The…