相关论文: SAVGO: Learning State-Action Value Geometry with C…

This work explores how to learn robust and generalizable state representation from image-based observations with deep reinforcement learning methods. Addressing the computational complexity, stringent assumptions and representation collapse…

Recently, vision-language model (VLM) agents have shown promising progress in open-world tasks, where successful task completion often requires multiple turns of visual perception and action execution. However, existing methods still rely…

Contrastive reinforcement learning (CRL) learns goal-conditioned Q-values through a contrastive objective over state-action and goal representations, removing the need for hand-crafted reward functions. Despite impressive success in…

We investigate a paradigm in multi-task reinforcement learning (MT-RL) in which an agent is placed in an environment and needs to learn to perform a series of tasks, within this space. Since the environment does not change, there is…

While it is generally acknowledged that force feedback is beneficial to robotic control, applications of policy learning to robotic manipulation typically only leverage visual feedback. Recently, symmetric neural models have been used to…

Group Relative Policy Optimization (GRPO) has shown promise in discrete action spaces by eliminating value function dependencies through group-based advantage estimation. However, its application to continuous control remains unexplored,…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

This paper introduces the Structural Optimization gym (SOgym), a novel open-source Reinforcement Learning (RL) environment designed to advance machine learning in Topology Optimization (TO). SOgym enables RL agents to generate physically…

Visual generation is dominated by three paradigms: AutoRegressive (AR), diffusion, and Visual AutoRegressive (VAR) models. Unlike AR and diffusion, VARs operate on heterogeneous input structures across their generation steps, which creates…

In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle (UAV) in a Unity-based photo-realistic simulation…

Fine-tuning pre-trained generative models with Reinforcement Learning (RL) has emerged as an effective approach for aligning outputs more closely with nuanced human preferences. In this paper, we investigate the application of Group…

Perceived signals in real-world scenarios are usually high-dimensional and noisy, and finding and using their representation that contains essential and sufficient information required by downstream decision-making tasks will help improve…

Many robotic control tasks require policies to act on orientations, yet the geometry of SO(3) makes this nontrivial. Because SO(3) admits no global, smooth, minimal parameterization, common representations such as Euler angles, quaternions,…

Neural Network based approximations of the Value function make up the core of leading Policy Based methods such as Trust Regional Policy Optimization (TRPO) and Proximal Policy Optimization (PPO). While this adds significant value when…

Operating directly from raw high dimensional sensory inputs like images is still a challenge for robotic control. Recently, Reinforcement Learning methods have been proposed to solve specific tasks end-to-end, from pixels to torques.…

Recently, graph-based planning algorithms have gained much attention to solve goal-conditioned reinforcement learning (RL) tasks: they provide a sequence of subgoals to reach the target-goal, and the agents learn to execute…

Being able to reach any desired location in the environment can be a valuable asset for an agent. Learning a policy to navigate between all pairs of states individually is often not feasible. An all-goals updating algorithm uses each…

Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…

Enhancing the reasoning capabilities of large language models effectively using reinforcement learning (RL) remains a crucial challenge. Existing approaches primarily adopt two contrasting advantage estimation granularities: token-level…

Simulation-based design space exploration (DSE) aims to efficiently optimize high-dimensional structured designs under complex constraints and expensive evaluation costs. Existing approaches, including heuristic and multi-step reinforcement…