12 papers
Benchmarking the Limits of In-Context Reinforcement Learning for Ad-Hoc Teamwork
Yuheng Jing, Kai Li, Ziwen Zhang +8
In-Context Reinforcement Learning (ICRL) has enabled foundation agents to adapt instantaneously to novel tasks, yet its efficacy in Ad-Hoc Teamwork (AHT)-where coordination with un…
PACT: Proactive Asking for Continual Task Assistance in Human-Robot Collaboration
Chengbo He, Sheng Li, Chenyang Ma +6
Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and…
Do Less, Achieve More: Do We Need Every-Step Optimization for RL Fine-tuning of Diffusion Models?
Renye Yan, Jikang Cheng, Shikun Sun +7
Despite strong image-generation performance, diffusion models' reconstruction objectives limit alignment with human preferences. RL enables such alignment through explicit rewards.…
Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data
Zhikai Zhang, Haofei Lu, Yunrui Lian +12
Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors…
K^2-Agent: Co-Evolving Know-What and Know-How for Hierarchical Mobile Device Control
Zhe Wu, Donglin Mo, Hongjin Lu +7
Existing mobile device control agents often perform poorly when solving complex tasks requiring long-horizon planning and precise operations, typically due to a lack of relevant ta…
MARPO: A Reflective Policy Optimization for Multi Agent Reinforcement Learning
Cuiling Wu, Yaozhong Gan, Junliang Xing +1
We propose Multi Agent Reflective Policy Optimization (MARPO) to alleviate the issue of sample inefficiency in multi agent reinforcement learning. MARPO consists of two key compone…
BodyGen: Advancing Towards Efficient Embodiment Co-Design
Haofei Lu, Zhe Wu, Junliang Xing +4
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive ro…
Habitizing Diffusion Planning for Efficient and Effective Decision Making
Haofei Lu, Yifei Shen, Dongsheng Li +2
Diffusion models have shown great promise in decision-making, also known as diffusion planning. However, the slow inference speeds limit their potential for broader real-world appl…
AdaMemento: Adaptive Memory-Assisted Policy Optimization for Reinforcement Learning
Renye Yan, Yaozhong Gan, You Wu +4
In sparse reward scenarios of reinforcement learning (RL), the memory mechanism provides promising shortcuts to policy optimization by reflecting on past experiences like humans. H…
The Exploration-Exploitation Dilemma Revisited: An Entropy Perspective
Renye Yan, Yaozhong Gan, You Wu +4
The imbalance of exploration and exploitation has long been a significant challenge in reinforcement learning. In policy optimization, excessive reliance on exploration reduces lea…
Transductive Off-policy Proximal Policy Optimization
Yaozhong Gan, Renye Yan, Xiaoyang Tan +2
Proximal Policy Optimization (PPO) is a popular model-free reinforcement learning algorithm, esteemed for its simplicity and efficacy. However, due to its inherent on-policy nature…
Reflective Policy Optimization
Yaozhong Gan, Renye Yan, Zhe Wu +1
On-policy reinforcement learning methods, like Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO), often demand extensive data per update, leading to sa…