相关论文: Learning and Reusing Policy Decompositions for Hie…

We present a hierarchical planning and control framework that enables an agent to perform various tasks and adapt to a new task flexibly. Rather than learning an individual policy for each particular task, the proposed framework, DISH,…

While reinforcement learning methods have delivered remarkable results in a number of settings, generalization, i.e., the ability to produce policies that generalize in a reliable and systematic way, has remained a challenge. The problem of…

This work presents a Hierarchical Multi-Agent Reinforcement Learning framework for analyzing simulated air combat scenarios involving heterogeneous agents. The objective is to identify effective Courses of Action that lead to mission…

In recent developments within the research community, the integration of Large Language Models (LLMs) in creating fully autonomous agents has garnered significant interest. Despite this, LLM-based agents frequently demonstrate notable…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

In image retrieval, standard evaluation metrics rely on score ranking, \eg average precision (AP), recall at k (R@k), normalized discounted cumulative gain (NDCG). In this work we introduce a general framework for robust and decomposable…

One approach for improving sample efficiency in cooperative multi-agent learning is to decompose overall tasks into sub-tasks that can be assigned to individual agents. We study this problem in the context of reward machines: symbolic tasks…

This work presents a modular and hierarchical approach to learn policies for exploring 3D environments, called `Active Neural SLAM'. Our approach leverages the strengths of both classical and learning-based methods, by using analytical path…

Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized…

Large Language Models (LLMs) enable intelligent multi-robot collaboration but face fundamental trade-offs: open-loop methods that compile tasks into formal representations for external executors produce sound plans but lack adaptability in…

Large Language Models (LLMs) have demonstrated remarkable abilities in various language tasks, making them promising candidates for decision-making in robotics. Inspired by Hierarchical Reinforcement Learning (HRL), we propose…

Recent machine-learning approaches to deterministic search and domain-independent planning employ policy learning to speed up search. Unfortunately, when attempting to solve a search problem by successively applying a policy, no guarantees…

Federated learning (FL) is a viable technique to train a shared machine learning model without sharing data. Hierarchical FL (HFL) system has yet to be studied regrading its multiple levels of energy, computation, communication, and client…

A common practice in large language model (LLM) usage for complex analytical tasks such as code generation, is to sample a solution for the entire task within the model's context window. Previous works have shown that subtask decomposition…

Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…

Hierarchical reinforcement learning methods offer a powerful means of planning flexible behavior in complicated domains. However, learning an appropriate hierarchical decomposition of a domain into subtasks remains a substantial challenge.…

The rising computational and energy demands of deep learning, particularly in large-scale architectures such as foundation models and large language models (LLMs), pose significant challenges to sustainability. Traditional gradient-based…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

With the continuous growth in communication network complexity and traffic volume, communication load balancing solutions are receiving increasing attention. Specifically, reinforcement learning (RL)-based methods have shown impressive…

Continual learning (CL) in vision-language models (VLMs) faces significant challenges in improving task adaptation and avoiding catastrophic forgetting. Existing methods usually have heavy inference burden or rely on external knowledge,…