Search Results for author:
Found 27 papers, 4 papers with code
Tree-Planner: Efficient Close-loop Task Planning with Large Language Models
This paper studies close-loop task planning, which refers to the process of generating a sequence of skills (a plan) to accomplish a specific goal while adapting the plan based on real-time observations.
Human-oriented Representation Learning for Robotic Manipulation
We introduce Task Fusion Decoder as a plug-and-play embedding translator that utilizes the underlying relationships among these perceptual skills to guide the representation learning towards encoding meaningful structure for what's important for all perceptual skills, ultimately empowering learning of downstream robotic manipulation tasks.
LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving
Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability.
AlignDiff: Aligning Diverse Human Preferences via Behavior-Customisable Diffusion Model
Aligning agent behaviors with diverse human preferences remains a challenging problem in reinforcement learning (RL), owing to the inherent abstractness and mutability of human preferences.
SEPT: Towards Efficient Scene Representation Learning for Motion Prediction
Motion prediction is crucial for autonomous vehicles to operate safely in complex traffic environments.
MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RL
Recently, diffusion model shines as a promising backbone for the sequence modeling paradigm in offline reinforcement learning(RL).
EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought
In this work, we introduce EmbodiedGPT, an end-to-end multi-modal foundation model for embodied AI, empowering embodied agents with multi-modal understanding and execution capabilities.
EC^2: Emergent Communication for Embodied Control
We learn embodied representations of video trajectories, emergent language, and natural language using a language model, which is then used to finetune a lightweight policy network for downstream control.
AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners
For example, AdaptDiffuser not only outperforms the previous art Diffuser by 20. 8% on Maze2D and 7. 5% on MuJoCo locomotion, but also adapts better to new tasks, e. g., KUKA pick-and-place, by 27. 9% without requiring additional expert data.
EC2: Emergent Communication for Embodied Control
We learn embodied representations of video trajectories, emergent language, and natural language using a language model, which is then used to finetune a lightweight policy network for downstream control.
MaskPlace: Fast Chip Placement via Reinforced Visual Representation Learning
Firstly, MaskPlace recasts placement as a problem of learning pixel-level visual representation to comprehensively describe millions of modules on a chip, enabling placement in a high-resolution canvas and a large action space.
Prototypical context-aware dynamics generalization for high-dimensional model-based reinforcement learning
The latent world model provides a promising way to learn policies in a compact latent space for tasks with high-dimensional observations, however, its generalization across diverse environments with unseen dynamics remains challenging.
Model-based Reinforcement Learning
reinforcement-learning
+1
Decomposed Mutual Information Optimization for Generalized Context in Meta-Reinforcement Learning
This paper addresses such a challenge by Decomposed Mutual INformation Optimization (DOMINO) for context learning, which explicitly learns a disentangled context to maximize the mutual information between the context and historical trajectories, while minimizing the state transition prediction error.
Enhance Sample Efficiency and Robustness of End-to-end Urban Autonomous Driving via Semantic Masked World Model
End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals.
EUCLID: Towards Efficient Unsupervised Reinforcement Learning with Multi-choice Dynamics Model
Unsupervised reinforcement learning (URL) poses a promising paradigm to learn useful behaviors in a task-agnostic environment without the guidance of extrinsic rewards to facilitate the fast adaptation of various downstream tasks.
CtrlFormer: Learning Transferable State Representation for Visual Control via Transformer
In visual control, learning transferable state representation that can transfer between different control tasks is important to reduce the training sample size.
CO^3: Cooperative Unsupervised 3D Representation Learning for Autonomous Driving
In this paper, we propose CO^3, namely Cooperative Contrastive Learning and Contextual Shape Prediction, to learn 3D representation for outdoor-scene point clouds in an unsupervised manner.
Flow-based Recurrent Belief State Learning for POMDPs
Furthermore, we show that the learned belief states can be plugged into downstream RL algorithms to improve performance.
Scale-Equivalent Distillation for Semi-Supervised Object Detection
Further, we overcome these challenges by introducing a novel approach, Scale-Equivalent Distillation (SED), which is a simple yet effective end-to-end knowledge distillation framework robust to large object size variance and class imbalance.
Don't Touch What Matters: Task-Aware Lipschitz Data Augmentation for Visual Reinforcement Learning
One of the key challenges in visual Reinforcement Learning (RL) is to learn policies that can generalize to unseen environments.
Model-Based Reinforcement Learning via Imagination with Derived Memory
Model-based reinforcement learning aims to improve the sample efficiency of policy learning by modeling the dynamics of the environment.
Model-based Reinforcement Learning
reinforcement-learning
+1
Model-based Chance-Constrained Reinforcement Learning via Separated Proportional-Integral Lagrangian
Based on this, the penalty method is formulated as a proportional controller, and the Lagrangian method is formulated as an integral controller.
Separated Proportional-Integral Lagrangian for Chance Constrained Reinforcement Learning
Taking a control perspective, we first interpret the penalty method and the Lagrangian method as proportional feedback and integral feedback control, respectively.
Steadily Learn to Drive with Virtual Memory
Reinforcement learning has shown great potential in developing high-level autonomous driving.
Robust Memory Augmentation by Constrained Latent Imagination
The latent dynamics model summarizes an agent’s high dimensional experiences in a compact way.
Model-Based Actor-Critic with Chance Constraint for Stochastic System
Safety is essential for reinforcement learning (RL) applied in real-world situations.
Mixed Reinforcement Learning with Additive Stochastic Uncertainty
This paper presents a mixed reinforcement learning (mixed RL) algorithm by simultaneously using dual representations of environmental dynamics to search the optimal policy with the purpose of improving both learning accuracy and training speed.
