63 citations · 437 across the 52 of their papers we have counts for
16 papers · 1 filter
Reparameterized Policy Learning for Multimodal Trajectory Optimization
Zhiao Huang, Litian Liang, Zhan Ling +3
We investigate the challenge of parametrizing policies for reinforcement learning (RL) in high-dimensional continuous action spaces. Our objective is to develop a multimodal policy…
SafeDiffuser: Safe Planning with Diffusion Probabilistic Models
Wei Xiao, Tsun-Hsuan Wang, Chuang Gan +1
Diffusion model-based approaches have shown promise in data-driven planning, but there are no safety guarantees, thus making it hard to be applied for safety-critical applications.…
Principle-Driven Self-Alignment of Language Models from Scratch with Minimal Human Supervision
Zhiqing Sun, Yikang Shen, Qinhong Zhou +5
Recent AI-assistant agents, such as ChatGPT, predominantly rely on supervised fine-tuning (SFT) with human annotations and reinforcement learning from human feedback (RLHF) to alig…
EC^2: Emergent Communication for Embodied Control
Yao Mu, Shunyu Yao, Mingyu Ding +2
Embodied control requires agents to leverage multi-modal pre-training to quickly learn how to act in new environments, where video demonstrations contain visual and motion details…
Hyper-Decision Transformer for Efficient Online Policy Adaptation
Mengdi Xu, Yuchen Lu, Yikang Shen +3
Decision Transformers (DT) have demonstrated strong performances in offline reinforcement learning settings, but quickly adapting to unseen novel tasks remains challenging. To addr…
Learning Neural Constitutive Laws From Motion Observations for Generalizable PDE Dynamics
Pingchuan Ma, Peter Yichen Chen, Bolei Deng +4
We propose a hybrid neural network (NN) and PDE approach for learning generalizable PDE dynamics from motion observations. Many NN approaches learn an end-to-end model that implici…
Planning with Large Language Models for Code Generation
Shun Zhang, Zhenfang Chen, Yikang Shen +3
Existing large language model-based code generation pipelines typically use beam search or sampling algorithms during the decoding process. Although the programs they generate achi…
Learning Physical Dynamics with Subequivariant Graph Neural Networks
Jiaqi Han, Wenbing Huang, Hengbo Ma +3
Graph Neural Networks (GNNs) have become a prevailing tool for learning physical dynamics. However, they still encounter several challenges: 1) Physical laws abide by symmetry, whi…
MA2QL: A Minimalist Approach to Fully Decentralized Multi-Agent Reinforcement Learning
Kefan Su, Siyuan Zhou, Jiechuan Jiang +3
Decentralized learning has shown great promise for cooperative multi-agent reinforcement learning (MARL). However, non-stationarity remains a significant challenge in fully decentr…
Prompting Decision Transformer for Few-Shot Policy Generalization
Mengdi Xu, Yikang Shen, Shun Zhang +4
Humans can leverage prior experience and learn novel tasks from a handful of demonstrations. In contrast to offline meta-reinforcement learning, which aims to achieve quick adaptat…
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
Xingyu Lin, Zhiao Huang, Yunzhu Li +3
We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to…
Adversarial Option-Aware Hierarchical Imitation Learning
Mingxuan Jing, Wenbing Huang, Fuchun Sun +4
It has been a challenge to learning skills for an agent from long-horizon unannotated demonstrations. Existing approaches like Hierarchical Imitation Learning(HIL) are prone to com…
Temporal and Object Quantification Networks
Jiayuan Mao, Zhezheng Luo, Chuang Gan +4
We present Temporal and Object Quantification Networks (TOQ-Nets), a new class of neuro-symbolic networks with a structural bias that enables them to learn to recognize complex rel…
PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics
Zhiao Huang, Yuanming Hu, Tao Du +4
Simulated virtual environments serve as one of the main driving forces behind developing and evaluating skill learning algorithms. However, existing environments typically only sim…
Learning Task Decomposition with Ordered Memory Policy Network
Yuchen Lu, Yikang Shen, Siyuan Zhou +3
Many complex real-world tasks are composed of several levels of sub-tasks. Humans leverage these hierarchical structures to accelerate the learning process and achieve better gener…
Defensive Quantization: When Efficiency Meets Robustness
Ji Lin, Chuang Gan, Song Han
Neural network quantization is becoming an industry standard to efficiently deploy deep learning models on hardware platforms, such as CPU, GPU, TPU, and FPGAs. However, we observe…