相关论文: LRT-Diffusion: Calibrated Risk-Aware Guidance for …

Despite recent advances in dexterous manipulations, the manipulation of articulated objects and generalization across different categories remain significant challenges. To address these issues, we introduce DART, a novel framework that…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

The probabilistic diffusion model (DM), generating content by inferencing through a recursive chain structure, has emerged as a powerful framework for visual generation. After pre-training on enormous data, the model needs to be properly…

Diffusion-based large language models (dLLMs) refine token generations through iterative denoising, but answers often stabilize before all steps complete. We propose EDIT (Early Diffusion Inference Termination), an inference-time criterion…

Among the reasons hindering reinforcement learning (RL) applications to real-world problems, two factors are critical: limited data and the mismatch between the testing environment (real environment in which the policy is deployed) and the…

Diffusion policies have shown promise in learning complex behaviors from demonstrations, particularly for tasks requiring precise control and long-term planning. However, they face challenges in robustness when encountering distribution…

A promising paradigm for offline reinforcement learning (RL) is to constrain the learned policy to stay close to the dataset behaviors, known as policy constraint offline RL. However, existing works heavily rely on the purity of the data,…

In recent advancements in Multi-agent Reinforcement Learning (MARL), its application has extended to various safety-critical scenarios. However, most methods focus on online learning, which presents substantial risks when deployed in…

We study continual offline reinforcement learning, a practical paradigm that facilitates forward transfer and mitigates catastrophic forgetting to tackle sequential offline tasks. We propose a dual generative replay framework that retains…

Offline reinforcement learning (RL) recovers the optimal policy $\pi$ given historical observations of an agent. In practice, $\pi$ is modeled as a weighted version of the agent's behavior policy $\mu$, using a weight function $w$ working…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Dynamic resource allocation in O-RAN is critical for managing the conflicting QoS requirements of 6G network slices. Conventional reinforcement learning agents often fail in this domain, as their unimodal policy structures cannot model the…

Offline reinforcement learning (RL) extends the paradigm of classical RL algorithms to purely learning from static datasets, without interacting with the underlying environment during the learning process. A key challenge of offline RL is…

Diffusion policies have achieved great success in online reinforcement learning (RL) due to their strong expressive capacity. However, the inference of diffusion policy models relies on a slow iterative sampling process, which limits their…

Operating effectively in complex environments while complying with specified constraints is crucial for the safe and successful deployment of robots that interact with and operate around people. In this work, we focus on generating…

Training reinforcement learning (RL) systems in real-world environments remains challenging due to noisy supervision and poor out-of-domain (OOD) generalization, especially in LLM post-training. Recent distributional RL methods improve…

Skill-based reinforcement learning (RL) approaches have shown considerable promise, especially in solving long-horizon tasks via hierarchical structures. These skills, learned task-agnostically from offline datasets, can accelerate the…

In offline reinforcement learning (RL), we seek to utilize offline data to evaluate (or learn) policies in scenarios where the data are collected from a distribution that substantially differs from that of the target policy to be evaluated.…

Diffusion-based generative methods have shown promising potential for modeling trajectories from offline reinforcement learning (RL) datasets, and hierarchical diffusion has been introduced to mitigate variance accumulation and…

This dissertation investigates how reinforcement learning (RL) methods can be designed to be safe, sample-efficient, and robust. Framed through the unifying perspective of contextual-bandit RL, the work addresses two major application…