相关论文: State-Action Inpainting Diffuser for Continuous Co…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

This paper delves into designing stabilizing feedback control gains for continuous linear systems with unknown state matrix, in which the control is subject to a general structural constraint. We bring forth the ideas from reinforcement…

Control of distributed parameter systems affected by delays is a challenging task, particularly when the delays depend on spatial variables. The idea of integrating analytical control theory with learning-based control within a unified…

Offline reinforcement learning (Offline RL) suffers from the innate distributional shift as it cannot interact with the physical environment during training. To alleviate such limitation, state-based offline RL leverages a learned dynamics…

Deep Reinforcement Learning (DRL) has become a powerful methodology to solve complex decision-making problems. However, DRL has several limitations when used in real-world problems (e.g., robotics applications). For instance, long training…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

With the increasing availability of traffic data and advance of deep reinforcement learning techniques, there is an emerging trend of employing reinforcement learning (RL) for traffic signal control. A key question for applying RL to…

Speech inpainting consists in reconstructing corrupted or missing speech segments using surrounding context, a process that closely resembles the pretext tasks in Self-Supervised Learning (SSL) for speech encoders. This study investigates…

In this paper, we address the challenge of procedure planning in instructional videos, aiming to generate coherent and task-aligned action sequences from start and end visual observations. Previous work has mainly relied on text-level…

Achieving controllable character animation that meets studio-grade standards remains challenging despite recent progress. Existing approaches can transfer motion from a driving video to a reference image, but often fail to preserve…

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…

Text-to-image diffusion models generate images through an iterative denoising process, so internal neural layers produce trajectories of activations rather than single static representations. Sparse autoencoders (SAEs) have recently been…

Text-guided image inpainting endeavors to generate new content within specified regions of images using textual prompts from users. The primary challenge is to accurately align the inpainted areas with the user-provided prompts while…

Comprehending natural language and following human instructions are critical capabilities for intelligent agents. However, the flexibility of linguistic instructions induces substantial ambiguity across language-conditioned tasks, severely…

Recent work has shown that augmenting environments with language descriptions improves policy learning. However, for environments with complex language abstractions, learning how to ground language to observations is difficult due to…

This work presents the solution to a class of decentralized linear quadratic state-feedback control problems, in which the plant and controller must satisfy the same combination of delay and sparsity constraints. Using a novel decomposition…

State-of-the-art approaches for autonomous driving integrate multiple sub-tasks of the overall driving task into a single pipeline that can be trained in an end-to-end fashion by passing latent representations between the different modules.…

Large Language Models (LLMs) have exhibited impressive capabilities across diverse application domains. Recent work has explored Multi-LLM Agent Debate (MAD) as a way to enhance performance by enabling multiple LLMs to discuss and refine…

Class-Incremental Learning (CIL) requires a model to continually learn new classes without forgetting old ones. A common and efficient solution freezes a pre-trained model and employs lightweight adapters, whose parameters are often forced…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…