4 papers
Training Generalist Navigation Policies via Action Self-Distillation
Bowen Feng, Keqin Wang, Yulong Yang +4
Language provides a natural interface for humans to specify and reason about goals, but training language-conditioned robotic policies and reasoning typically requires expensive ma…
Local-Canonicalization Equivariant Graph Neural Networks for Sample-Efficient and Generalizable Swarm Robot Control
Keqin Wang, Tao Zhong, David Chang +1
Multi-agent reinforcement learning (MARL) policies for swarm control often learn inefficiently and generalize poorly across coordinate frames, team sizes, and agent roles. We intro…
Resolving Oversmoothing with Opinion Dissensus
Keqin Wang, Yulong Yang, Ishan Saha +1
While graph neural networks (GNNs) have allowed researchers to successfully apply neural networks to non-Euclidean domains, deep GNNs often exhibit lower predictive performance tha…
Behavior-Inspired Neural Networks for Relational Inference
Yulong Yang, Bowen Feng, Keqin Wang +3
From pedestrians to Kuramoto oscillators, interactions between agents govern how dynamical systems evolve in space and time. Discovering how these agents relate to each other has t…