相关论文: Latent Action World Models for Control with Unlabe…

We explore building generative neural network models of popular reinforcement learning environments. Our world model can be trained quickly in an unsupervised manner to learn a compressed spatial and temporal representation of the…

Offline RL methods have been shown to reduce the need for environment interaction by training agents using offline collected episodes. However, these methods typically require action information to be logged during data collection, which…

Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…

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…

Vision-Language-Action (VLA) models have achieved strong semantic generalization for embodied policy learning, yet they learn reactive observation-to-action mappings without explicitly modeling how the physical world evolves under…

We study multi-agent reinforcement learning (MARL) for tasks in complex high-dimensional environments, such as autonomous driving. MARL is known to suffer from the \textit{partial observability} and \textit{non-stationarity} issues. To…

Model-based reinforcement learning (RL) is anticipated to exhibit higher sample efficiency compared to model-free RL by utilizing a virtual environment model. However, it is challenging to obtain sufficiently accurate representations of the…

As we deploy reinforcement learning agents to solve increasingly challenging problems, methods that allow us to inject prior knowledge about the structure of the world and effective solution strategies becomes increasingly important. In…

Leveraging offline data is a promising way to improve the sample efficiency of online reinforcement learning (RL). This paper expands the pool of usable data for offline-to-online RL by leveraging abundant non-curated data that is…

Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…

In the field of Automated Planning and Scheduling (APS), intelligent agents by virtue require an action model (blueprints of actions whose interleaved executions effectuates transitions of the system state) in order to plan and solve real…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

We present exact algorithms for identifying deterministic-actions effects and preconditions in dynamic partially observable domains. They apply when one does not know the action model(the way actions affect the world) of a domain and must…

Realistic and interactive surgical simulation has the potential to facilitate crucial applications, such as medical professional training and autonomous surgical agent training. In the natural visual domain, world models have enabled…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

Learning to infer labels in an open world, i.e., in an environment where the target "labels" are unknown, is an important characteristic for achieving autonomy. Foundation models pre-trained on enormous amounts of data have shown remarkable…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Developing foundational world models is a key research direction for embodied intelligence, with the ability to adapt to non-stationary environments being a crucial criterion. In this work, we introduce a new formalism, Hidden…

Despite the central role of action in embodied intelligence, learning transferable action representations from visual transitions remains a fundamental challenge, particularly when world models must generalize across embodiments under…

Traditional reinforcement learning (RL)-based learning approaches for wireless networks rely on expensive trial-and-error mechanisms and real-time feedback based on extensive environment interactions, which leads to low data efficiency and…