相关论文: MuJoCoUni:Persistent Batched Runtime Primitives fo…
We present Premier-TACO, a multitask feature representation learning approach designed to improve few-shot policy learning efficiency in sequential decision-making tasks. Premier-TACO leverages a subset of multitask offline datasets for…
Combinatorial Optimization (CO) encompasses a wide range of problems that arise in many real-world scenarios. While significant progress has been made in developing learning-based methods for specialized CO problems, a unified model with a…
Transferring heavy payloads in maritime settings relies on efficient crane operation, limited by hazardous double-pendulum payload sway. This sway motion is further exacerbated in offshore environments by external perturbations from wind…
Modern accelerators use hierarchical parallel programming models that enable massive multithreading within a processing element (PE), with multiple PEs per device driven by traditional processes. Batching is a technique for exposing…
We perform an end-to-end benchmark of a hybrid sequential quantum computing (HSQC) solver for higher-order unconstrained binary optimization (HUBO), executed on IBM Heron r3 quantum processors to evaluate the potential of current quantum…
The generation of connectional brain templates (CBTs) has recently garnered significant attention for its potential to identify unique connectivity patterns shared across individuals. However, existing methods for CBT learning such as…
We present a review of popular simulation engines and frameworks used in reinforcement learning (RL) research, aiming to guide researchers in selecting tools for creating simulated physical environments for RL and training setups. It…
The Jiangmen Underground Neutrino Observatory (JUNO) is a multi-purpose experiment under construction in southern China. JUNO aims to determine the neutrino mass ordering and precisely measure the neutrino oscillation parameters by…
Tensegrity robots, composed of rigid rods and flexible cables, are difficult to accurately model and control given the presence of complex dynamics and high number of DoFs. Differentiable physics engines have been recently proposed as a…
Deploying robots at scale demands robustness to the long tail of everyday situations. The countless variations in scene layout, object geometry, and task specifications that characterize real environments are vast and underrepresented in…
To achieve true scalability on massive datasets, a modern query engine needs to be able to take advantage of large, shared-memory, multicore systems. Binary joins are conceptually easy to parallelize on a multicore system; however, several…
We provide finite-sample performance guarantees for control policies executed on stochastic robotic systems. Given an open- or closed-loop policy and a finite set of trajectory rollouts under the policy, we bound the expected value,…
We present new results on learning temporally extended actions for continuoustasks, using the options framework (Suttonet al.[1999b], Precup [2000]). In orderto achieve this goal we work with the option-critic architecture (Baconet…
Significant progress has been made in the area of model-based reinforcement learning. State-of-the-art algorithms are now able to match the asymptotic performance of model-free methods while being significantly more data efficient. However,…
As quantum hardware advances, integrating quantum processing units (QPUs) into HPC environments and managing diverse infrastructure and software stacks becomes increasingly essential. Pilot-Quantum addresses these challenges as a middleware…
OpenSim is a widely used biomechanics simulator with several anatomically accurate human musculo-skeletal models. While OpenSim provides useful tools to analyse human movement, it is not fast enough to be routinely used for emerging…
Many real-world physical control systems are required to satisfy constraints upon deployment. Furthermore, real-world systems are often subject to effects such as non-stationarity, wear-and-tear, uncalibrated sensors and so on. Such effects…
Finite-state models are ubiquitous in the study of concurrent systems, especially controllers and servers that operate in a repetitive cycle. In this paper, we show how to extract finite state models from a run of a multi-threaded Java…
Large-scale foundation models (LFMs) have recently made impressive progress in text-to-motion generation by learning strong generative priors from massive 3D human motion datasets and paired text descriptions. However, how to effectively…
Magnetic rolling microrobots enable gentle manipulation in confined microfluidic environments, yet autonomy for contact-rich behaviors such as cell pushing and multi-target assembly remains difficult to develop and evaluate reproducibly. We…