25 accepted papers
Multi-agent reinforcement learning (MARL) is a powerful paradigm for solving cooperative and competitive decision-making problems. While many MARL benchmarks have been proposed, few combine continuous state and action spaces with challenging coordination and planning tasks. We introduce CAMAR, a new
Generalist robot policies must operate safely and reliably in everyday human environments such as homes, offices, and warehouses, where people and objects move unpredictably. We present Dynamic Neural Potential Field (NPField-GPT), a learning-enhanced model predictive control (MPC) framework that co…
Real-world robotic agents must act under partial observability and long horizons, where key cues may appear long before they affect decision making. However, most modern approaches rely solely on instantaneous information, without incorporating insights from the past. Standard recurrent or transform…
Pixel-based reinforcement learning agents often fail under purely visual distribution shift even when latent dynamics and rewards are unchanged, but existing benchmarks entangle multiple sources of shift and hinder systematic analysis. We introduce KAGE-Env, a JAX-native 2D platformer that factorize…
This paper introduces Knowledge-Guided Massively Multi-task Model-based Policy Optimization (KG-M3PO), a framework for multi-task robotic manipulation in partially observable settings that unifies Perception, Knowledge, and Policy. KG-M3PO leverages a model-based policy optimization method to contro…
Memory is crucial for enabling agents to tackle complex tasks with temporal and spatial dependencies. While many reinforcement learning (RL) algorithms incorporate memory, the field lacks a universal benchmark to assess an agent's memory capabilities across diverse scenarios. This gap is particularl…
Transformers have become increasingly popular in offline reinforcement learning (RL) due to their ability to treat agent trajectories as sequences, reframing policy learning as a sequence modeling task. However, in partially observable environments (POMDPs), effective decision-making depends on reta…
The paper presents a new approach for constructing a library of optimal trajectories for two robotic manipulators, Two-Arm Optimal Control and Avoidance Library (TOCALib). The optimization takes into account kinodynamic and other constraints within the FROST framework. The novelty of the method lies…
The incorporation of memory into agents is essential for numerous tasks within the domain of Reinforcement Learning (RL). In particular, memory is paramount for tasks that require the use of past information, adaptation to novel environments, and improved sample efficiency. However, the term ``memor…
Multi-agent pathfinding (MAPF) is a common abstraction of multi-robot trajectory planning problems, where multiple homogeneous robots simultaneously move in the shared environment. While solving MAPF optimally has been proven to be NP-hard, scalable, and efficient, solvers are vital for real-world a
As a part of an embodied agent, Large Language Models (LLMs) are typically used for behavior planning given natural language instructions from the user. However, dealing with ambiguous instructions in real-world environments remains a challenge for LLMs. Various methods for task ambiguity detection…
Following instructions in real-world conditions requires a capability to adapt to the world’s volatility and entanglement: the environment is dynamic and unpredictable, instructions can be linguistically complex with diverse vocabulary, and the number of possible goals an agent may encounter is vast…
This paper presents a novel approach to address the challenge of online sequence learning for decision making under uncertainty in non-stationary, partially observable environments. The proposed algorithm, Distributed Hebbian Temporal Memory (DHTM), is based on the factor graph formalism and a multi…
We introduce Massively Multi-Task Model-Based Policy Optimization (M3PO), a scalable model-based reinforcement learning (MBRL) framework designed to address the challenges of sample efficiency in single-task settings and generalization in multi-task domains. Existing model-based approaches like Drea
Multi-agent pathfinding (MAPF) is a problem that generally requires finding collision-free paths for multiple agents in a shared environment. Solving MAPF optimally, even under restrictive assumptions, is NP-hard, yet efficient solutions for this problem are critical for numerous applications, such…
Multi-agent reinforcement learning (MARL) has recently excelled in solving challenging cooperative and competitive multi-agent problems in various environments, typically involving a small number of agents and full observability. Moreover, a range of crucial robotics-related tasks, such as multi-rob…
The Multi-Agent Pathfinding (MAPF) problem involves finding a set of conflict-free paths for a group of agents confined to a graph. In typical MAPF scenarios, the graph and the agents' starting and ending vertices are known beforehand, allowing the use of centralized planning algorithms. However, in…
In autonomous driving, maneuver planning is essential for ride safety and comfort, involving both motion planning and decision-making. This paper introduces FFStreams, a novel approach combining high-level decision-making and low-level motion planning to solve maneuver planning problems while consid
Molecular conformation optimization is crucial to computer-aided drug discovery and materials design. Traditional energy minimization techniques rely on iterative optimization methods that use molecular forces calculated by a physical simulator (oracle) as anti-gradients. However, this is a computat…
Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized MAPF setting, when the central controller that possesses all…
The application of learning-based control methods in robotics presents significant challenges. One is that model-free reinforcement learning algorithms use observation data with low sample efficiency. To address this challenge, a prevalent approach is model-based reinforcement learning, which involv…
Model predictive control (MPC) may provide local motion planning for mobile robotic platforms. The challenging aspect is the analytic representation of collision cost for the case when both the obstacle map and robot footprint are arbitrary. We propose a Neural Potential Field: a neural network mode…
Object-centric architectures usually apply a differentiable module to the entire feature map to decompose it into sets of entity representations called slots. Some of these methods structurally resemble clustering algorithms, where the cluster's center in latent space serves as a slot representation…
This letter addresses the kinodynamic motion planning for non-holonomic robots in dynamic environments with both static and dynamic obstacles – a challenging problem that lacks a universal solution yet. One of the promising approaches to solve it is decomposing the problem into the smaller sub-probl
Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games, etc. Instance-independent heuristics for grid graphs, e.g. Manhattan distance, do not take the obs…