相关论文: DREAMer-VXS: A Latent World Model for Sample-Effic…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

Autonomous navigation of terrestrial robots using Reinforcement Learning (RL) from LIDAR observations remains challenging due to the high dimensionality of sensor data and the sample inefficiency of model-free approaches. Conventional…

We introduce DreamerAD, the first latent world model framework that enables efficient reinforcement learning for autonomous driving by compressing diffusion sampling from 100 steps to 1 - achieving 80x speedup while maintaining visual…

World models have gained significant attention as a promising approach for autonomous driving. By emulating human-like perception and decision-making processes, these models can predict and adapt to dynamic environments. Existing methods…

Intelligent agents need to generalize from past experience to achieve goals in complex environments. World models facilitate such generalization and allow learning behaviors from imagined outcomes to increase sample-efficiency. While…

Learned world models summarize an agent's experience to facilitate learning complex behaviors. While learning world models from high-dimensional sensory inputs is becoming feasible through deep learning, there are many potential ways for…

How can artificial agents learn to solve many diverse tasks in complex visual environments in the absence of any supervision? We decompose this question into two problems: discovering new goals and learning to reliably achieve them. We…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

Cognitive scientists believe adaptable intelligent agents like humans perform reasoning through learned causal mental simulations of agents and environments. The problem of learning such simulations is called predictive world modeling.…

Reinforcement learning has shown great potential in generalizing over raw sensory data using only a single neural network for value optimization. There are several challenges in the current state-of-the-art reinforcement learning algorithms…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots. Recent deep reinforcement learning approaches show promising results to solve the problem, but it is not solved yet, as they typically…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

Autonomous mobile agents often operate in hazardous environments, necessitating an awareness of safety. These agents can have non-linear, stochastic dynamics that must be considered during planning to guarantee bounded risk. Most state of…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

Autonomous Ground Vehicles (AGVs) are essential tools for a wide range of applications stemming from their ability to operate in hazardous environments with minimal human operator input. Effective motion planning is paramount for successful…

Planning is a powerful approach to reinforcement learning with several desirable properties. However, it requires a model of the world, which is not readily available in many real-life problems. In this paper, we propose to learn a world…

One's ability to learn a generative model of the world without supervision depends on the extent to which one can construct abstract knowledge representations that generalize across experiences. To this end, capturing an accurate…

Deep reinforcement learning has over the past few years shown great potential in learning near-optimal control in complex simulated environments with little visible information. Rainbow (Q-Learning) and PPO (Policy Optimisation) have shown…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…