From the 1 of 13 linked papers with an AI index.
13 papers
Momentum as Residual-Driven Multiplier Correction for Deep Learning Optimization
Zhixin Ren, Yau Lyu, Congrong Li +2
Momentum-based optimizers are widely used in modern deep learning, yet the relations among momentum recursion, update geometry, and acceleration remain only partially understood. W…
On the Identifiability of Controlled World Models
Xiangteng Zhang, Yang Guan, Bo Zhang +3
World model serves as a promising tool to infer environment dynamics under high-dimensional observations and candidate actions. Recently, LeCun's JEPA provides a compelling framewo…
Distributional Soft Bellman Operator under the Cramér Geometry
Keru Wang, Yixin Deng, Yao Lyu +2
Distributional soft policy iteration (DSPI) provides an important framework for combining distributional reinforcement learning (DRL) with maximum-entropy control, in which the pol…
FAST: A Framework for Aligned Sampling and Training in Parallel Reinforcement Learning for Autonomous Driving
Bonan Wang, Letian Tao, Bin Shuai +7
The paper introduces FAST, a synchronous parallel framework that improves sampling efficiency for deep reinforcement learning in autonomous driving by aligning parallel simulations…
Factor-Aware Mixture-of-Experts with Pretrained Encoder for Combinatorial Generalization
Feihong Zhang, Guojian Zhan, Zeyu He +8
The integration of pretrained encoders with diffusion policies has become a dominant paradigm for visual robotic manipulation. However, it still struggles to generalize across comp…
M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking
Zuxing Lu, Ziang Zheng, Yao Lyu +7
Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomot…