相关论文: MemoAct: Atkinson-Shiffrin-Inspired Memory-Augment…

Large language model (LLM) agents require long-term user memory for consistent personalization, but limited context windows hinder tracking evolving preferences over long interactions. Existing memory systems mainly rely on static,…

We consider the problem of finding good finite-horizon policies for POMDPs under the expected reward metric. The policies considered are {em free finite-memory policies with limited memory}; a policy is a mapping from the space of…

Memory is fundamental to social interaction, enabling humans to recall meaningful past experiences and adapt their behavior accordingly based on the context. However, most current social robots and embodied agents rely on non-selective,…

Real-world fine manipulation, particularly in bimanual manipulation, typically requires low-latency control and stable visual localization, while collecting large-scale data is costly and limited demonstrations may lead to localization…

Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…

Imitation learning trains control policies by mimicking pre-recorded expert demonstrations. In partially observable settings, imitation policies must rely on observation histories, but many seemingly paradoxical results show better…

Current datasets for action recognition tasks face limitations stemming from traditional collection and generation methods, including the constrained range of action classes, absence of multi-viewpoint recordings, limited diversity, poor…

We describe a framework for multitask deep reinforcement learning guided by policy sketches. Sketches annotate tasks with sequences of named subtasks, providing information about high-level structural relationships among tasks but not how…

Large vision-language models have recently demonstrated impressive performance in planning and control tasks, driving interest in their application to real-world robotics. However, deploying these models for reasoning in embodied contexts…

Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…

The main challenge of multiagent reinforcement learning is the difficulty of learning useful policies in the presence of other simultaneously learning agents whose changing behaviors jointly affect the environment's transition and reward…

Multi-objective Markov decision processes are sequential decision-making problems that involve multiple conflicting reward functions that cannot be optimized simultaneously without a compromise. This type of problems cannot be solved by a…

Multiagent reinforcement learning, as a prominent intelligent paradigm, enables collaborative decision-making within complex systems. However, existing approaches often rely on explicit action exchange between agents to evaluate action…

Reinforcement learning agents often forget details of the past, especially after delays or distractor tasks. Agents with common memory architectures struggle to recall and integrate across multiple timesteps of a past event, or even to…

Constraint handling plays a key role in solving realistic complex optimization problems. Though intensively discussed in the last few decades, existing constraint handling techniques predominantly rely on human experts' designs, which more…

Robotic systems deployed in real-world environments often operate under conditions of partial and often intermittent observability, where sensor inputs may be noisy, occluded, or entirely unavailable due to failures or environmental…

As multi-object tracking (MOT) tasks continue to evolve toward more general and multi-modal scenarios, the rigid and task-specific architectures of existing MOT methods increasingly hinder their applicability across diverse tasks and limit…

Designing a universal policy architecture that performs well across diverse robots and task configurations remains a key challenge. In this work, we address this by representing robot actions as sequential data and generating actions…

We consider the batch (off-line) policy learning problem in the infinite horizon Markov Decision Process. Motivated by mobile health applications, we focus on learning a policy that maximizes the long-term average reward. We propose a…

Transformers have become increasingly popular in offline reinforcement learning (RL) due to their ability to treat agent trajectories as sequences, reframing policy learning as a sequence modeling task. However, in partially observable…