相关论文: A Primer on SO(3) Action Representations in Deep R…

Representation learning is a central challenge across a range of machine learning areas. In reinforcement learning, effective and functional representations have the potential to tremendously accelerate learning progress and solve more…

Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…

The subject of this paper is reinforcement learning. Policies are considered here that produce actions based on states and random elements autocorrelated in subsequent time instants. Consequently, an agent learns from experiments that are…

Choosing an appropriate representation of the environment for the underlying decision-making process of the reinforcement learning agent is not always straightforward. The state representation should be inclusive enough to allow the agent…

In the field of reinforcement learning (RL), representation learning is a proven tool for complex image-based tasks, but is often overlooked for environments with low-level states, such as physical control problems. This paper introduces…

Recent trends in robot arm control have seen a shift towards end-to-end solutions, using deep reinforcement learning to learn a controller directly from raw sensor data, rather than relying on a hand-crafted, modular pipeline. However, the…

Deep learning for predicting the electronic-structure Hamiltonian of quantum systems necessitates satisfying the covariance laws, among which achieving SO(3)-equivariance without sacrificing the non-linear expressive capability of networks…

The development of embodied AI systems is increasingly constrained by the availability and structure of physical interaction data. Despite recent advances in vision-language-action (VLA) models, current pipelines suffer from high data…

We address the problem of 3D rotation equivariance in convolutional neural networks. 3D rotations have been a challenging nuisance in 3D classification tasks requiring higher capacity and extended data augmentation in order to tackle it. We…

Feed-forward 3D reconstruction models such as DUSt3R, VGGT, and Depth Anything 3 (DA3) are transformer-based foundation models that infer camera geometry and dense scene structure in a single forward pass. Trained at scale in a supervised…

For many applications of reinforcement learning it can be more convenient to specify both a reward function and constraints, rather than trying to design behavior through the reward function. For example, systems that physically interact…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Reinforcement learning in discrete-continuous hybrid action spaces presents fundamental challenges for robotic manipulation, where high-level task decisions and low-level joint-space execution must be jointly optimized. Existing approaches…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of dimension 3, known as SE(3). Methods from finite horizon…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

Reaching tasks with random targets and obstacles is a challenging task for robotic manipulators. In this study, we propose a novel model-free reinforcement learning approach based on proximal policy optimization (PPO) for training a deep…

We investigate the invariants of the $25$-dimensional real representation of the group ${\bf SO}(3)\wr{\bf Z}_2$ given by the left and right actions of ${\bf SO}(3)$ on $5\times 5$ matrices together with matrix transposition; the action on…

In order to avoid conventional controlling methods which created obstacles due to the complexity of systems and intense demand on data density, developing modern and more efficient control methods are required. In this way, reinforcement…

We propose a new perspective on representation learning in reinforcement learning based on geometric properties of the space of value functions. We leverage this perspective to provide formal evidence regarding the usefulness of value…