相关论文: A Loss Landscape Visualization Framework for Inter…

Deploying reinforcement learning policies in the real world requires adapting to time-varying environments. We study this problem in the contextual Markov Decision Process (cMDP) framework, where a family of environments is indexed by a…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

The symmetry of dynamical systems can be exploited for state-transition prediction and to facilitate control policy optimization. This paper leverages system symmetry to develop sample-efficient offline reinforcement learning (RL)…

We consider offline Reinforcement Learning (RL), where the agent does not interact with the environment and must rely on offline data collected using a behavior policy. Previous works provide policy evaluation guarantees when the target…

We describe an approximate dynamic programming (ADP) approach to compute approximations of the optimal strategies and of the minimal losses that can be guaranteed in discounted repeated games with vector-valued losses. Such games…

We present dGrasp, an implicit grasp policy with an enhanced optimization landscape. This landscape is defined by a NeRF-informed grasp value function. The neural network representing this function is trained on simulated grasp…

Humanoid locomotion is a challenging task due to its inherent complexity and high-dimensional dynamics, as well as the need to adapt to diverse and unpredictable environments. In this work, we introduce a novel learning framework for…

The emergence of truck-drone collaborative systems in last-mile logistics has positioned the Traveling Salesman Problem with Drones (TSP-D) as a pivotal extension of classical routing optimization, where synchronized vehicle coordination…

In order to successfully perform tasks specified by natural language instructions, an artificial agent operating in a visual world needs to map words, concepts, and actions from the instruction to visual elements in its environment. This…

In this paper, we propose actor-director-critic, a new framework for deep reinforcement learning. Compared with the actor-critic framework, the director role is added, and action classification and action evaluation are applied…

In this paper, a novel mechanism-driven reinforcement learning framework is proposed for airfoil shape optimization. To validate the framework, a reward function is designed and analyzed, from which the equivalence between the maximizing…

Recent analyses of certain gradient descent optimization methods have shown that performance can degrade in some settings - such as with stochasticity or implicit momentum. In deep reinforcement learning (Deep RL), such optimization methods…

Creating an intelligent conversational system that understands vision and language is one of the ultimate goals in Artificial Intelligence (AI)~\cite{winograd1972understanding}. Extensive research has focused on vision-to-language…

In reinforcement learning algorithms, leveraging multiple views of the environment can improve the learning of complicated policies. In multi-view environments, due to the fact that the views may frequently suffer from partial…

Understanding the interactions of agents trained with deep reinforcement learning is crucial for deploying agents in games or the real world. In the former, unreasonable actions confuse players. In the latter, that effect is even more…

Reinforcement learning (RL) policies deployed in safety-critical systems, such as unmanned aerial vehicle (UAV) navigation in dynamic airspace, are vulnerable to out-ofdistribution (OOD) adversarial attacks in the observation space. These…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

Entropy regularization is commonly used to improve policy optimization in reinforcement learning. It is believed to help with \emph{exploration} by encouraging the selection of more stochastic policies. In this work, we analyze this claim…

Optimization of non-convex loss surfaces containing many local minima remains a critical problem in a variety of domains, including operations research, informatics, and material design. Yet, current techniques either require extremely high…

Unmanned Combat Aerial Vehicle (UCAV) Within-Visual-Range (WVR) engagement, referring to a fight between two or more UCAVs at close quarters, plays a decisive role on the aerial battlefields. With the development of artificial intelligence,…