相关论文: ASTRO: Adaptive Stitching via Dynamics-Guided Traj…

Critique-guided reinforcement learning (RL) has emerged as a powerful paradigm for training LLM agents by augmenting sparse outcome rewards with natural-language feedback. However, current methods often rely on static or offline critic…

Self-evaluation, a model's ability to assess the correctness of its own output, is crucial for Large Multimodal Models (LMMs) to achieve self-improvement in multi-turn conversations, yet largely absent in foundation models. Recent work has…

Offline reinforcement learning (RL) learns effective policies from a static target dataset. The performance of state-of-the-art offline RL algorithms notwithstanding, it relies on the size of the target dataset, and it degrades if limited…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…

Policy gradient methods are powerful reinforcement learning algorithms and have been demonstrated to solve many complex tasks. However, these methods are also data-inefficient, afflicted with high variance gradient estimates, and frequently…

Decision Transformer (DT) is an innovative algorithm leveraging recent advances of the transformer architecture in reinforcement learning (RL). However, a notable limitation of DT is its reliance on recalling trajectories from datasets,…

Offline reinforcement learning (RL) aims at learning policies from previously collected static trajectory data without interacting with the real environment. Recent works provide a novel perspective by viewing offline RL as a generic…

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.…

Offline reinforcement learning (RL) algorithms can learn better decision-making compared to behavior policies by stitching the suboptimal trajectories to derive more optimal ones. Meanwhile, Decision Transformer (DT) abstracts the RL as…

Reinforcement Learning (RL) has made significant strides in enabling artificial agents to learn diverse behaviors. However, learning an effective policy often requires a large number of environment interactions. To mitigate sample…

Reinforcement learning (RL) is effective in enhancing the accuracy of large language models in complex reasoning tasks. Existing RL policy optimization frameworks rely on final-answer correctness as feedback signals and rarely capture the…

Reinforcement Learning (RL) can effectively learn complex policies. However, learning these policies often demands extensive trial-and-error interactions with the environment. In many real-world scenarios, this approach is not practical due…

Sampling-based trajectory planners are widely used for agile autonomous driving due to their ability to generate fast, smooth, and kinodynamically feasible trajectories. However, their behavior is often governed by a cost function with…

Dynamic material handling (DMH) involves the assignment of dynamically arriving material transporting tasks to suitable vehicles in real time for minimising makespan and tardiness. In real-world scenarios, historical task records are…

Deep Reinforcement Learning (DRL) has been a promising solution to many complex decision-making problems. Nevertheless, the notorious weakness in generalization among environments prevent widespread application of DRL agents in real-world…

The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded…

Hierarchical policies enable strong performance in many sequential decision-making problems, such as those with high-dimensional action spaces, those requiring long-horizon planning, and settings with sparse rewards. However, learning…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Deep reinforcement learning (DRL) has emerged as a promising paradigm for autonomous driving. However, despite their advanced capabilities, DRL-based policies remain highly vulnerable to adversarial attacks, posing serious safety risks in…