相关论文: Mixture-of-World Models: Scaling Multi-Task Reinfo…

Reinforcement Learning (RL) has made significant strides in complex tasks but struggles in multi-task settings with different embodiments. World model methods offer scalability by learning a simulation of the environment but often rely on…

Multi-Task Reinforcement Learning (MTRL) tackles the long-standing problem of endowing agents with skills that generalize across a variety of problems. To this end, sharing representations plays a fundamental role in capturing both unique…

Despite recent advancements in offline multi-task reinforcement learning (MTRL) have harnessed the powerful capabilities of the Transformer architecture, most approaches focus on a limited number of tasks, with scaling to extremely massive…

We present the Multi-Agent Transformer World Model (MATWM), a novel transformer-based world model designed for multi-agent reinforcement learning in both vector- and image-based environments. MATWM combines a decentralized imagination…

Model-based reinforcement learning (MBRL) holds the promise of sample-efficient learning by utilizing a world model, which models how the environment works and typically encompasses components for two tasks: observation modeling and reward…

Typical multi-task learning (MTL) methods rely on architectural adjustments and a large trainable parameter set to jointly optimize over several tasks. However, when the number of tasks increases so do the complexity of the architectural…

Learning cooperative multi-agent policies directly from high-dimensional, multimodal sensory inputs like pixels and audio (from pixels) is notoriously sample-inefficient. Model-free Multi-Agent Reinforcement Learning (MARL) algorithms…

Multi-task reinforcement learning (MTRL) aims to endow a single agent with the ability to perform well on multiple tasks. Recent works have focused on developing novel sophisticated architectures to improve performance, often resulting in…

Developing generalist systems that retain human-like data efficiency is a central challenge. While world models (WMs) offer a promising path, existing research often conflates architectural mechanisms with the independent impact of model…

Multi-task learning (MTL) is a subfield of machine learning with important applications, but the multi-objective nature of optimization in MTL leads to difficulties in balancing training between tasks. The best MTL optimization methods…

While a general embodied agent must function as a unified system, current methods are built on isolated models for understanding, world modeling, and control. This fragmentation prevents unifying multimodal generative capabilities and…

Language model (LM)-based embodied agents are increasingly deployed in real-world settings. Yet, their adaptability remains limited in dynamic environments, where constructing accurate and flexible world models is crucial for effective…

Multi-Task Learning (MTL) has achieved success in various fields. However, how to balance different tasks to achieve good performance is a key problem. To achieve the task balancing, there are many works to carefully design dynamical…

Meta-learning algorithms enable rapid adaptation to new tasks with minimal data, a critical capability for real-world robotic systems. This paper evaluates Model-Agnostic Meta-Learning (MAML) combined with Trust Region Policy Optimization…

Multi-task reinforcement learning (MTRL) aims to train a single agent to efficiently optimize performance across multiple tasks simultaneously. However, jointly optimizing all tasks often yields imbalanced learning: agents quickly solve…

Learning a world model for model-free Reinforcement Learning (RL) agents can significantly improve the sample efficiency by learning policies in imagination. However, building a world model for Multi-Agent RL (MARL) can be particularly…

Multi-task learning (MTL) concurrently trains a model on diverse task datasets to exploit common features, thereby improving overall performance across the tasks. Recent studies have dedicated efforts to merging multiple independent model…

Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where…

Multitask learning assumes that models capable of learning from multiple tasks can achieve better quality and efficiency via knowledge transfer, a key feature of human learning. Though, state of the art ML models rely on high customization…

Embodied action planning is a core challenge in robotics, requiring models to generate precise actions from visual observations and language instructions. While video generation world models are promising, their reliance on pixel-level…