相关论文: Dreamer-CDP: Improving Reconstruction-free World M…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

Joint-Embedding Predictive Architecture (JEPA) has emerged as a promising self-supervised approach that learns by leveraging a world model. While previously limited to predicting missing parts of an input, we explore how to generalize the…

Invariance-based and generative methods have shown a conspicuous performance for 3D self-supervised representation learning (SSRL). However, the former relies on hand-crafted data augmentations that introduce bias not universally applicable…

Numerous real-world control problems involve dynamics and objectives affected by unobservable hidden parameters, ranging from autonomous driving to robotic manipulation, which cause performance degradation during sim-to-real transfer. To…

We consider model-based reinforcement learning (MBRL) in 2-agent, high-fidelity continuous control problems -- an important domain for robots interacting with other agents in the same workspace. For non-trivial dynamical systems, MBRL…

Model-free Reinforcement Learning (RL) algorithms such as Q-learning [Watkins, Dayan 92] have been widely used in practice and can achieve human level performance in applications such as video games [Mnih et al. 15]. Recently, equipped with…

The deployment of Reinforcement Learning (RL) in real-world applications is constrained by its failure to satisfy safety criteria. Existing Safe Reinforcement Learning (SafeRL) methods, which rely on cost functions to enforce safety, often…

Counterfactual inference for continuous rather than binary treatment variables is more common in real-world causal inference tasks. While there are already some sample reweighting methods based on Marginal Structural Model for eliminating…

"Dreaming" enables agents to learn from imagined experiences, enabling more robust and sample-efficient learning of world models. In this work, we consider innovations to the state-of-the-art Dreamer model using probabilistic methods that…

We study how representation learning can accelerate reinforcement learning from rich observations, such as images, without relying either on domain knowledge or pixel-reconstruction. Our goal is to learn representations that both provide…

We propose a novel model-based reinforcement learning algorithm -- Dynamics Learning and predictive control with Parameterized Actions (DLPA) -- for Parameterized Action Markov Decision Processes (PAMDPs). The agent learns a…

The Dreamer algorithm has recently obtained remarkable performance across diverse environment domains by training powerful agents with simulated trajectories. However, the compressed nature of its world model's latent space can result in…

Model-Based Reinforcement Learning yields sample efficiency via latent imagination, yet remains constrained by Historical Tethering: imagination is typically initialized from observed states. This creates a learning asymmetry, where the…

In this paper, we introduce a new class of parameterized controllers, drawing inspiration from Model Predictive Control (MPC). The controller resembles a Quadratic Programming (QP) solver of a linear MPC problem, with the parameters of the…

Model-based reinforcement learning (MBRL) approaches rely on discrete-time state transition models whereas physical systems and the vast majority of control tasks operate in continuous-time. To avoid time-discretization approximation of the…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

We develop several provably efficient model-free reinforcement learning (RL) algorithms for infinite-horizon average-reward Markov Decision Processes (MDPs). We consider both online setting and the setting with access to a simulator. In the…

Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free reinforcement learning (RL) has enabled decision-making agents…

Recent works have shown the remarkable superiority of transformer models in reinforcement learning (RL), where the decision-making problem is formulated as sequential generation. Transformer-based agents could emerge with self-improvement…

Model-Based Reinforcement Learning involves learning a \textit{dynamics model} from data, and then using this model to optimise behaviour, most often with an online \textit{planner}. Much of the recent research along these lines presents a…