相关论文: Temporal Action Representation Learning for Tactic…

Model-based reinforcement learning agents utilizing transformers have shown improved sample efficiency due to their ability to model extended context, resulting in more accurate world models. However, for complex reasoning and planning…

Unsupervised/self-supervised representation learning in time series is critical since labeled samples are usually scarce in real-world scenarios. Existing approaches mainly leverage the contrastive learning framework, which automatically…

In real-world environments, autonomous agents rely on their egocentric observations. They must learn adaptive strategies to interact with others who possess mixed motivations, discernible only through visible cues. Several Multi-Agent…

The ability to transfer knowledge gained in previous tasks into new contexts is one of the most important mechanisms of human learning. Despite this, adapting autonomous behavior to be reused in partially similar settings is still an open…

Representation learning based on multi-task pretraining has become a powerful approach in many domains. In particular, task-aware representation learning aims to learn an optimal representation for a specific target task by sampling data…

Linear dynamical systems that obey stochastic differential equations are canonical models. While optimal control of known systems has a rich literature, the problem is technically hard under model uncertainty and there are hardly any…

Adversarial Training (AT) is one of the most effective methods for developing robust deep neural networks (DNNs). However, AT faces a trade-off problem between clean accuracy and adversarial robustness. In this work, we reveal a surprising…

Distribution shifts and adversarial examples are two major challenges for deploying machine learning models. While these challenges have been studied individually, their combination is an important topic that remains relatively…

Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in a stable manner. Similarly, legged robots need to develop their ability to stably…

In the context of multi-agent reinforcement learning, generalization is a challenge to solve various tasks that may require different joint policies or coordination without relying on policies specialized for each task. We refer to this…

Discrete-continuous hybrid action space is a natural setting in many practical problems, such as robot control and game AI. However, most previous Reinforcement Learning (RL) works only demonstrate the success in controlling with either…

Learning identifiable representations and models from low-level observations is helpful for an intelligent spacecraft to complete downstream tasks reliably. For temporal observations, to ensure that the data generating process is provably…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Although it is well known that exploration plays a key role in Reinforcement Learning (RL), prevailing exploration strategies for continuous control tasks in RL are mainly based on naive isotropic Gaussian noise regardless of the causality…

Causal representation learning (CRL) and traditional representation learning have largely developed along different trajectories. Traditional representation learning has been driven mainly by applications and empirical objectives, whereas…

In reinforcement learning (RL), state representations are key to dealing with large or continuous state spaces. While one of the promises of deep learning algorithms is to automatically construct features well-tuned for the task they try to…

Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…

Real-world multi-agent tasks usually involve dynamic team composition with the emergence of roles, which should also be a key to efficient cooperation in multi-agent reinforcement learning (MARL). Drawing inspiration from the correlation…

Large language models (LLMs) exhibit in-context learning abilities which enable the same model to perform several tasks without any task-specific training. In contrast, traditional adaptation approaches, such as fine-tuning, modify the…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…