相关论文: Coordinated Diffusion: Generating Multi-Agent Beha…

Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-mounted cameras, simplifies perception by focusing on…

Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidirectional decoding has proven effective in boosting the…

Deep reinforcement learning algorithms have recently been used to train multiple interacting agents in a centralised manner whilst keeping their execution decentralised. When the agents can only acquire partial observations and are faced…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

This paper investigates how deep multi-agent reinforcement learning can enable the scalable and privacy-preserving coordination of residential energy flexibility. The coordination of distributed resources such as electric vehicles and…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

Imitation learning empowers artificial agents to mimic behavior by learning from demonstrations. Recently, diffusion models, which have the ability to model high-dimensional and multimodal distributions, have shown impressive performance on…

Multi-agent systems require effective coordination between groups and individuals to achieve common goals. However, current multi-agent reinforcement learning (MARL) methods primarily focus on improving individual policies and do not…

Imitation learning is a primary approach to improve the efficiency of reinforcement learning by exploiting the expert demonstrations. However, in many real scenarios, obtaining expert demonstrations could be extremely expensive or even…

Diffusion models arise as a powerful generative tool recently. Despite the great progress, existing diffusion models mainly focus on uni-modal control, i.e., the diffusion process is driven by only one modality of condition. To further…

In partially observable multi-agent systems, agents typically only have access to local observations. This severely hinders their ability to make precise decisions, particularly during decentralized execution. To alleviate this problem and…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Classical paradigms for distributed learning, such as federated or decentralized gradient descent, employ consensus mechanisms to enforce homogeneity among agents. While these strategies have proven effective in i.i.d. scenarios, they can…

In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…

Diffusion models are emerging expressive generative models, in which a large number of time steps (inference steps) are required for a single image generation. To accelerate such tedious process, reducing steps uniformly is considered as an…

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

Diffusion models, widely recognized for their success in generative tasks, have not yet been applied to clustering. We introduce Clustering via Diffusion (CLUDI), a self-supervised framework that combines the generative power of diffusion…

We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…

Deepgenerative models havebecomeapromisingapproach for human motion prediction due to their ability to capture multimodal distributions and represent diverse human be haviors. However, generating predictions that are both di verse and…

Multi-agent interactions between Large Language Model (LLM) agents have shown major improvements on diverse reasoning tasks. However, these involve long generations from multiple models across several rounds, making them expensive.…