相关论文: Dynamics-Aligned Latent Imagination in Contextual …

Many reinforcement learning (RL) tasks provide the agent with high-dimensional observations that can be simplified into low-dimensional continuous states. To formalize this process, we introduce the concept of a DeepMDP, a parameterized…

Real-world agentic tasks, unlike synchronous Markov Decision Processes (MDPs), often involve non-blocking actions with variable latencies, creating a fundamental \textit{Temporal Gap} between action initiation and completion. Existing…

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture…

We introduce Dynamic Contextual Markov Decision Processes (DCMDPs), a novel reinforcement learning framework for history-dependent environments that generalizes the contextual MDP framework to handle non-Markov environments, where contexts…

Non-stationary environments are challenging for reinforcement learning algorithms. If the state transition and/or reward functions change based on latent factors, the agent is effectively tasked with optimizing a behavior that maximizes…

Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation. However, existing methods are limited to…

Offline meta-reinforcement learning seeks to learn policies that generalize across related tasks from fixed datasets. Context-based methods infer a task representation from transition histories, but learning effective task representations…

A world model enables an intelligent agent to imagine, predict, and reason about how the world evolves in response to its actions, and accordingly to plan and strategize. While recent video generation models produce realistic visual…

Reinforcement Learning (RL) techniques have drawn great attention in many challenging tasks, but their performance deteriorates dramatically when applied to real-world problems. Various methods, such as domain randomization, have been…

A plausible scene evolution depends on the maneuver being considered, while a good maneuver depends on how the scene may evolve. Existing World Action Models (WAMs) largely miss this reciprocity, treating world prediction and action…

Large language models achieve strong performance in language generation and knowledge-intensive tasks, yet remain limited in settings requiring causal reasoning, persistent state tracking, and long-horizon planning. We argue that these…

We consider the problem of generalization in reinforcement learning where visual aspects of the observations might differ, e.g. when there are different backgrounds or change in contrast, brightness, etc. We assume that our agent has access…

This paper studies fully decentralized cooperative multi-agent reinforcement learning, where each agent solely observes the states, its local actions, and the shared rewards. The inability to access other agents' actions often leads to…

Humans leverage rich internal models of the world to reason about the future, imagine counterfactuals, and adapt flexibly to new situations. In Reinforcement Learning (RL), world models aim to capture how the environment evolves in response…

Adapting to the changes in transition dynamics is essential in robotic applications. By learning a conditional policy with a compact context, context-aware meta-reinforcement learning provides a flexible way to adjust behavior according to…

Latent Action Models (LAMs) enable the learning of world models from unlabeled video by inferring abstract actions between consecutive frames. However, LAMs face a fundamental trade-off between action abstraction and generation fidelity.…

Embodied agents need to plan and act reliably in real and complex 3D environments. Classical planning (e.g., PDDL) offers structure and guarantees, but in practice it fails under noisy perception and incorrect predicate grounding. On the…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

Zero-shot generalization in contextual reinforcement learning remains a core challenge, particularly when the context is latent and must be inferred from data. A canonical failure mode arises when latent context discontinuously changes how…