相关论文: Adaptive Action Chunking via Multi-Chunk Q Value E…

This paper presents a theoretical analysis of two of the most impactful interventions in modern learning from demonstration in robotics and continuous control: the practice of action-chunking (predicting sequences of actions in open-loop)…

While Retrieval-Augmented Generation (RAG) has emerged as a promising paradigm for boosting large language models (LLMs) in knowledge-intensive tasks, it often overlooks the crucial aspect of text chunking within its workflow. This paper…

Chunking has emerged as a critical technique that enhances generative models by grounding their responses in efficiently segmented knowledge [1]. While initially developed for unimodal (primarily textual) domains, recent advances in…

Reinforcement learning (RL) is a promising avenue for post-training vision-language-action (VLA) models, but practical deployment is hindered by sparse rewards and unstable training. This work mitigates these challenges by introducing an…

Offline reinforcement learning, by learning from a fixed dataset, makes it possible to learn agent behaviors without interacting with the environment. However, depending on the quality of the offline dataset, such pre-trained agents may…

The offline reinforcement learning (RL) paradigm provides a general recipe to convert static behavior datasets into policies that can perform better than the policy that collected the data. While policy constraints, conservatism, and other…

To improve efficiency and temporal coherence, Vision-Language-Action (VLA) models often predict action chunks; however, this action chunking harms reactivity under inference delay and long horizons. We introduce Asynchronous Action Chunk…

Reinforcement Learning (RL) has proven highly effective in aligning Large Language Models (LLMs) with human preferences. Typical RL methods optimize under an overall sequence reward, which can lead to a suboptimal learning process. This…

Link adaptation (LA) is an essential function in modern wireless communication systems that dynamically adjusts the transmission rate of a communication link to match time- and frequency-varying radio link conditions. However, factors such…

Providing reinforcement learning agents with informationally rich human knowledge can dramatically improve various aspects of learning. Prior work has developed different kinds of shaping methods that enable agents to learn efficiently in…

Chunking is a crucial preprocessing step in retrieval-augmented generation (RAG) systems, significantly impacting retrieval effectiveness across diverse datasets. In this study, we systematically evaluate fixed-size chunking strategies and…

Off-policy, value-based reinforcement learning methods such as Q-learning are appealing because they can learn from arbitrary experience, including data collected by older policies or other agents. In practice, however, bootstrapping makes…

Transformers have become the cornerstone of modern large-scale language models, but their reliance on softmax attention poses a computational bottleneck at both training and inference. Recurrent models offer high efficiency, but compressing…

Offline Reinforcement Learning (RL), which operates solely on static datasets without further interactions with the environment, provides an appealing alternative to learning a safe and promising control policy. The prevailing methods…

Offline reinforcement learning (offline RL), which aims to find an optimal policy from a previously collected static dataset, bears algorithmic difficulties due to function approximation errors from out-of-distribution (OOD) data points. To…

This paper proposes an active learning (AL) algorithm to solve regression problems based on inverse-distance weighting functions for selecting the feature vectors to query. The algorithm has the following features: (i) supports both…

Existing action detection algorithms usually generate action proposals through an extensive search over the video at multiple temporal scales, which brings about huge computational overhead and deviates from the human perception procedure.…

Offline-to-online reinforcement learning (RL) improves sample efficiency by leveraging pre-collected datasets prior to online interaction. A key challenge, however, is learning an accurate critic in large state--action spaces with limited…

Artificial neural network training with stochastic gradient descent can be destabilized by "bad batches" with high losses. This is often problematic for training with small batch sizes, high order loss functions or unstably high learning…

Online action detection is a task with the aim of identifying ongoing actions from streaming videos without any side information or access to future frames. Recent methods proposed to aggregate fixed temporal ranges of invisible but…