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

Large language models (LLMs) have demonstrated emergent in-context learning (ICL) capabilities across a range of tasks, including zero-shot time-series forecasting. We show that text-trained foundation models can accurately extrapolate…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

In order to deploy autonomous agents to domains such as autonomous driving, infrastructure management, health care, and finance, they must be able to adapt safely to unseen situations. The current approach in constructing such agents is to…

High-dimensional observations are a major challenge in the application of model-based reinforcement learning (MBRL) to real-world environments. To handle high-dimensional sensory inputs, existing approaches use representation learning to…

The generalization ability of most meta-reinforcement learning (meta-RL) methods is largely limited to test tasks that are sampled from the same distribution used to sample training tasks. To overcome the limitation, we propose Latent…

As machine learning evolves, domain generalization (DG) and domain adaptation (DA) have become crucial for enhancing model robustness across diverse environments. Contrastive Language-Image Pretraining (CLIP) plays a significant role in…

Differentiable simulators represent an environment's dynamics as a differentiable function. Within robotics and autonomous driving, this property is used in Analytic Policy Gradients (APG), which relies on backpropagating through the…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Robotic manipulation involves kinematic and semantic transitions that are inherently coupled via underlying actions. However, existing approaches plan within either semantic or latent space without explicitly aligning these cross-modal…

Safe L2/L3 driving automation requires anticipating human-in-the-loop reactions during shared-control transitions. While most driving world models forecast the external environment, in-cabin intelligence remains strictly…

Physics-based reinforcement learning tasks can benefit from simplified physics simulators as they potentially allow near-optimal policies to be learned in simulation. However, such simulators require the latent factors (e.g. mass, friction…

Analysing learning in Multi-Agent Reinforcement Learning (MARL) environments is challenging, in particular with respect to \textit{individual} decision-making. Practitioners frequently struggle to compare training runs due to the inherent…

While the shortage of explicit action data limits Vision-Language-Action (VLA) models, human action videos offer a scalable yet unlabeled data source. A critical challenge in utilizing large-scale human video datasets lies in transforming…

Representations of the world environment play a crucial role in artificial intelligence. It is often inefficient to conduct reasoning and inference directly in the space of raw sensory representations, such as pixel values of images.…

Large Vision-Language Models (LVLMs) have achieved remarkable success across a wide range of multimodal tasks, yet their robustness to spatial variations remains insufficiently understood. In this work, we conduct a systematic study of the…

Large transformer models, trained on diverse datasets, have demonstrated impressive few-shot performance on previously unseen tasks without requiring parameter updates. This capability has also been explored in Reinforcement Learning (RL),…

Dynamic Reinforcement Learning (Dynamic RL), proposed in this paper, directly controls system dynamics, instead of the actor (action-generating neural network) outputs at each moment, bringing about a major qualitative shift in…

Recent studies have shown that Transformers can perform in-context reinforcement learning (RL) by imitating existing RL algorithms, enabling sample-efficient adaptation to unseen tasks without parameter updates. However, these models also…

We consider a context-dependent Reinforcement Learning (RL) setting, which is characterized by: a) an unknown finite number of not directly observable contexts; b) abrupt (discontinuous) context changes occurring during an episode; and c)…

Reasoning-based image quality assessment (IQA) models trained through reinforcement learning (RL) exhibit exceptional generalization, yet the underlying mechanisms and critical factors driving this capability remain underexplored in current…