相关论文: Enhancing RL Generalizability in Robotics through …

Normalization layers have recently experienced a renaissance in the deep reinforcement learning and continual learning literature, with several works highlighting diverse benefits such as improving loss landscape conditioning and combatting…

Reinforcement learning has become the standard for improving reasoning in large language models, yet evidence increasingly suggests that RL does not teach new strategies; it redistributes probability mass over solutions the base model…

The objective comparison of Reinforcement Learning (RL) algorithms is notoriously complex as outcomes and benchmarking of performances of different RL approaches are critically sensitive to environmental design, reward structures, and…

Interpreting predictions from tree ensemble methods such as gradient boosting machines and random forests is important, yet feature attribution for trees is often heuristic and not individualized for each prediction. Here we show that…

Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to generalize beyond the specific environments and conditions they…

Predicting the performance of highly configurable software systems is the foundation for performance testing and quality assurance. To that end, recent work has been relying on machine/deep learning to model software performance. However, a…

Deep reinforcement learning (RL) has proved to be a competitive heuristic for solving small-sized instances of traveling salesman problems (TSP), but its performance on larger-sized instances is insufficient. Since training on large…

Meta-Reinforcement Learning addresses the critical limitations of conventional Reinforcement Learning in multi-task and non-stationary environments by enabling fast policy adaptation and improved generalization. We introduce a novel Meta-RL…

Generalist LLM agents are often post-trained on a narrow set of environments but deployed across far broader, unseen domains. In this work, we investigate the challenge of agentic post-training when the eventual test domains are unknown.…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

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…

As a subfield of machine learning, reinforcement learning (RL) aims at empowering one's capabilities in behavioural decision making by using interaction experience with the world and an evaluative feedback. Unlike traditional supervised…

Hierarchical coarse-to-fine policy, where a coarse branch predicts a region of interest to guide a fine-grained action predictor, has demonstrated significant potential in robotic 3D manipulation tasks by especially enhancing sample…

Much attention has been devoted recently to the development of machine learning algorithms with the goal of improving treatment policies in healthcare. Reinforcement learning (RL) is a sub-field within machine learning that is concerned…

Applications of Reinforcement Learning (RL) in robotics are often limited by high data demand. On the other hand, approximate models are readily available in many robotics scenarios, making model-based approaches like planning a…

Machine/deep learning models have been widely adopted for predicting the configuration performance of software systems. However, a crucial yet unaddressed challenge is how to cater for the sparsity inherited from the configuration…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

In the domain of black-box model extraction, conventional methods reliant on soft labels or surrogate datasets struggle with scaling to high-dimensional input spaces and managing the complexity of an extensive array of interrelated classes.…

Recent years have witnessed significant progresses in deep Reinforcement Learning (RL). Empowered with large scale neural networks, carefully designed architectures, novel training algorithms and massively parallel computing devices,…

Reinforcement learning (RL) agents optimize only the features specified in a reward function and are indifferent to anything left out inadvertently. This means that we must not only specify what to do, but also the much larger space of what…