相关论文: WPT: World-to-Policy Transfer via Online World Mod…

Policy distillation in deep reinforcement learning provides an effective way to transfer control policies from a larger network to a smaller untrained network without a significant degradation in performance. However, policy distillation is…

Policy Distillation (PD) has become an effective method to improve deep reinforcement learning tasks. The core idea of PD is to distill policy knowledge from a teacher agent to a student agent. However, the teacher-student framework…

Moving beyond simple scalar rewards toward richer world feedback is a natural path to more scalable RL post-training. On-policy self-distillation (OPSD) is a promising recent approach that uses arbitrary feedback as learning signal, yet its…

Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, where end-to-end policy finetuning remains inefficient and…

Model-based RL is a promising approach for real-world robotics due to its improved sample efficiency and generalization capabilities compared to model-free RL. However, effective model-based RL solutions for vision-based real-world…

We study how to exploit dense simulator-defined rewards in vision-based autonomous driving without inheriting their misalignment with deployment metrics. In realistic simulators such as CARLA, privileged state (e.g., lane geometry,…

The transfer of knowledge from one policy to another is an important tool in Deep Reinforcement Learning. This process, referred to as distillation, has been used to great success, for example, by enhancing the optimisation of agents,…

We present a novel approach to knowledge transfer in model-based reinforcement learning, addressing the critical challenge of deploying large world models in resource-constrained environments. Our method efficiently distills a high-capacity…

On-policy distillation (OPD), which aligns the student with the teacher's logit distribution on student-generated trajectories, has demonstrated strong empirical gains in improving student performance and often outperforms off-policy…

Knowledge distillation offers a promising path to transfer reasoning capabilities from large teacher models to efficient student models; however, existing token-level on-policy distillation methods require token-level alignment between the…

With the increasing availability of open-source robotic data, imitation learning has become a promising approach for both manipulation and locomotion. Diffusion models are now widely used to train large, generalized policies that predict…

Policy distillation, which transfers a teacher policy to a student policy has achieved great success in challenging tasks of deep reinforcement learning. This teacher-student framework requires a well-trained teacher model which is…

Diffusion distillation models effectively accelerate reverse sampling by compressing the process into fewer steps. However, these models still exhibit a performance gap compared to their pre-trained diffusion model counterparts, exacerbated…

On-policy distillation is a promising approach for transferring knowledge between language models, where a student learns from dense token-level signals along its own trajectories. This framework typically uses reverse KL divergence,…

Imitation Learning (IL) has achieved remarkable success across various domains, including robotics, autonomous driving, and healthcare, by enabling agents to learn complex behaviors from expert demonstrations. However, existing IL methods…

In natural language processing (NLP) tasks, slow inference speed and huge footprints in GPU usage remain the bottleneck of applying pre-trained deep models in production. As a popular method for model compression, knowledge distillation…

Neural Machine Translation (NMT) models achieve state-of-the-art performance on many translation benchmarks. As an active research field in NMT, knowledge distillation is widely applied to enhance the model's performance by transferring…

Knowledge distillation is a popular machine learning technique that aims to transfer knowledge from a large 'teacher' network to a smaller 'student' network and improve the student's performance by training it to emulate the teacher. In…

Although diffusion models have achieved strong results in decision-making tasks, their slow inference speed remains a key limitation. While consistency models offer a potential solution, existing applications to decision-making either…

Safe Reinforcement Learning (RL) aims to find a policy that achieves high rewards while satisfying cost constraints. When learning from scratch, safe RL agents tend to be overly conservative, which impedes exploration and restrains the…