相关论文: Value-guided action planning with JEPA world model…

Embodied AI requires agents that perceive, act, and anticipate how actions reshape future world states. World models serve as internal simulators that capture environment dynamics, enabling forward and counterfactual rollouts to support…

Critical events in multivariate time series, from turbine failures to cardiac arrhythmias, demand accurate prediction, yet labeled data is scarce because such events are rare and costly to annotate. We introduce HEPA (Horizon-conditioned…

The objective of constrained motion planning is to connect start and goal configurations while satisfying task-specific constraints. Motion planning becomes inefficient or infeasible when the configurations lie in disconnected regions,…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

Most deep learning research has focused on developing new model and training procedures. On the other hand the training objective has usually been restricted to combinations of standard losses. When the objective aligns well with the…

In this paper we study the problem of learning multi-step dynamics prediction models (jumpy models) from unlabeled experience and their utility for fast inference of (high-level) plans in downstream tasks. In particular we propose to learn…

This paper tackles the problem of how to pre-train a model and make it generally reusable backbones for downstream task learning. In pre-training, we propose a method that builds an agent-environment interaction model by learning domain…

Embedding of large but redundant data, such as images or text, in a hierarchy of lower-dimensional spaces is one of the key features of representation learning approaches, which nowadays provide state-of-the-art solutions to problems once…

To raise awareness of the environmental impact of deep learning (DL), many studies estimate the energy use of DL systems. However, energy estimates during DL training often rely on unverified assumptions. This work addresses that gap by…

We investigate a deep reinforcement learning (RL) architecture that supports explaining why a learned agent prefers one action over another. The key idea is to learn action-values that are directly represented via human-understandable…

This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…

Given a Markov decision process (MDP), we seek to learn representations for a range of policies to facilitate behavior steering at test time. As policies of an MDP are uniquely determined by their occupancy measures, we propose modeling…

Autonomous agents operating in dynamic and safety-critical environments require decision-making frameworks that are both computationally efficient and physically grounded. However, many existing approaches rely on end-to-end learning, which…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

Data-Enabled Predictive Control (DeePC) has emerged as a powerful framework for controlling unknown systems directly from input-output data. For nonlinear systems, recent work has proposed selecting relevant subsets of data columns based on…

We propose world value functions (WVFs), a type of goal-oriented general value function that represents how to solve not just a given task, but any other goal-reaching task in an agent's environment. This is achieved by equipping an agent…

A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…

General-purpose agents require fine-grained controls and rich sensory inputs to perform a wide range of tasks. However, this complexity often leads to intractable decision-making. Traditionally, agents are provided with task-specific action…

This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…

By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…