相关论文: Aligning Flow Map Policies with Optimal Q-Guidance

Generative flow networks (GFlowNets) are a family of algorithms that learn a generative policy to sample discrete objects $x$ with non-negative reward $R(x)$. Learning objectives guarantee the GFlowNet samples $x$ from the target…

Optimizing complex and high-dimensional black-box functions is ubiquitous in science and engineering fields. Unfortunately, the online evaluation of these functions is restricted due to time and safety constraints in most cases. In offline…

Decision making for autonomous driving in urban environments is challenging due to the complexity of the road structure and the uncertainty in the behavior of diverse road users. Traditional methods consist of manually designed rules as the…

Autonomous driving necessitates the ability to reason about future interactions between traffic agents and to make informed evaluations for planning. This paper introduces the \textit{Gen-Drive} framework, which shifts from the traditional…

Offline reinforcement learning (RL) tries to learn the near-optimal policy with recorded offline experience without online exploration. Current offline RL research includes: 1) generative modeling, i.e., approximating a policy using fixed…

Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existing generative policies. Diffusion-based approaches offer…

Personalized recommender systems fulfill the daily demands of customers and boost online businesses. The goal is to learn a policy that can generate a list of items that matches the user's demand or interest. While most existing methods…

Offline reinforcement learning (RL) leverages pre-collected datasets to train optimal policies. Diffusion Q-Learning (DQL), introducing diffusion models as a powerful and expressive policy class, significantly boosts the performance of…

Off-Policy reinforcement learning (RL) is an important class of methods for many problem domains, such as robotics, where the cost of collecting data is high and on-policy methods are consequently intractable. Standard methods for applying…

We introduce Equilibrium Matching (EqM), a generative modeling framework built from an equilibrium dynamics perspective. EqM discards the non-equilibrium, time-conditional dynamics in traditional diffusion and flow-based generative models…

The Generative Flow Network (GFlowNet) is a probabilistic framework in which an agent learns a stochastic policy and flow functions to sample objects proportionally to an unnormalized reward function. A number of recent works explored…

A key barrier to using reinforcement learning (RL) in many real-world applications is the requirement of a large number of system interactions to learn a good control policy. Off-policy and Offline RL methods have been proposed to reduce…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

Drawing upon recent advances in language model alignment, we formulate offline Reinforcement Learning as a two-stage optimization problem: First pretraining expressive generative policies on reward-free behavior datasets, then fine-tuning…

Generative flow networks (GFlowNets) are a method for learning a stochastic policy for generating compositional objects, such as graphs or strings, from a given unnormalized density by sequences of actions, where many possible action…

The ability to learn multi-modal action distributions is indispensable for robotic manipulation policies to perform precise and robust control. Flow-based generative models have recently emerged as a promising solution to learning…

While behavior cloning with flow/diffusion policies excels at learning complex skills from demonstrations, it remains vulnerable to distributional shift, and standard RL methods struggle to fine-tune these models due to their iterative…

Recent advances in generative modeling have led to promising results in robot motion planning, particularly through diffusion and flow matching (FM)-based models that capture complex, multimodal trajectory distributions. However, these…

Retrieval-Augmented Generation (RAG) based on knowledge graphs (KGs) enhances large language models (LLMs) by providing structured and interpretable external knowledge. However, existing KG-based RAG methods struggle to retrieve accurate…