相关论文: Decoupled Guidance Diffusion for Adaptive Offline …

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Inverse reinforcement learning (IRL) aims to explicitly infer an underlying reward function based on collected expert demonstrations. Considering that obtaining expert demonstrations can be costly, the focus of current IRL techniques is on…

Generative diffusion models for end-to-end autonomous driving often suffer from mode collapse, tending to generate conservative and homogeneous behaviors. While DiffusionDrive employs predefined anchors representing different driving…

Many practical applications of reinforcement learning require agents to learn from sparse and delayed rewards. It challenges the ability of agents to attribute their actions to future outcomes. In this paper, we consider the problem…

Diffusion models have demonstrated strong generative capabilities across scientific domains, but often produce outputs that violate physical laws. We propose a new perspective by framing physics-informed generation as a sparse reward…

Offline reinforcement learning (RL) aims to learn a policy that maximizes the expected return using a given static dataset of transitions. However, offline RL faces the distribution shift problem. The policy constraint offline RL method is…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Offline reinforcement learning (RL) methods can generally be categorized into two types: RL-based and Imitation-based. RL-based methods could in principle enjoy out-of-distribution generalization but suffer from erroneous off-policy…

Offline Reinforcement Learning (RL) learns optimal policies from fixed datasets, training a policy once and deploying it at inference time without further refinement. Inspired by model predictive control (MPC), we introduce an inference…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Leveraging the model's internal information as the self-reward signal in Reinforcement Learning (RL) has received extensive attention due to its label-free nature. While prior works have made significant progress in applying the Test-Time…

Proper guidance strategies are essential to achieve high-quality generation results without retraining diffusion and flow-based text-to-image models. Existing guidance either requires specific training or strong inductive biases of…

Learning-based planners generate natural human-like driving behaviors by learning to reason about nuanced interactions from data, overcoming the rigid behaviors that arise from rule-based planners. Nonetheless, data-driven approaches often…

Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…

Diffusion models have emerged as the mainstream approach for visual generation. However, these models typically suffer from sample inefficiency and high training costs. Consequently, methods for efficient finetuning, inference and…

We address the problem of fine-tuning diffusion models for reward-guided generation in biomolecular design. While diffusion models have proven highly effective in modeling complex, high-dimensional data distributions, real-world…

Diffusion-based planning has shown promising results in long-horizon, sparse-reward tasks by training trajectory diffusion models and conditioning the sampled trajectories using auxiliary guidance functions. However, due to their nature as…

Stochastic convex optimization algorithms are the most popular way to train machine learning models on large-scale data. Scaling up the training process of these models is crucial, but the most popular algorithm, Stochastic Gradient Descent…

Neural networks are known to be susceptible to adversarial samples: small variations of natural examples crafted to deliberately mislead the models. While they can be easily generated using gradient-based techniques in digital and physical…

Reward finetuning has emerged as a promising approach to aligning foundation models with downstream objectives. Remarkable success has been achieved in the language domain by using reinforcement learning (RL) to maximize rewards that…