37 accepted papers
The Capacitated Vehicle Routing Problem (CVRP) is a fundamental NP-hard problem with broad applications in logistics and transportation. Real-world CVRPs often involve diverse objectives and complex constraints, such as time windows or backhaul requirements, motivating the development of a unified s
Retrieval-Augmented Generation (RAG) enhances the response quality and domain-specific performance of large language models (LLMs) by incorporating external knowledge to combat hallucinations. In recent research, graph structures have been integrated into RAG to enhance the capture of semantic relat
We present Ego-1K, a large-scale, time-synchronized collection of egocentric multiview videos designed to advance neural 3D video synthesis, dynamic scene understanding, and embodied perception. The dataset contains nearly 1,000 short egocentric videos taken with a custom rig with 12 synchronous cam
In the realm of multi-agent systems, the challenge of partial observability is a critical barrier to effective coordination and decision-making. Existing approaches, such as belief state estimation and inter-agent communication, often fall short. Belief-based methods are limited by their focus on pa…
Preference-based reinforcement learning (PbRL) can help avoid sophisticated reward designs and align better with human intentions, showing great promise in various real-world applications. However, obtaining human feedback for preferences can be expensive and time-consuming, which forms a strong bar…
Multivariate Time-Series (MTS) analysis is crucial across various domains. Considering the spatial and temporal consistency of MTS, existing methods leverage graph structures with temporal augmentation and contrastive learning to achieve robust learning of spatial dependencies and temporal patterns.
The multi-drone waypoint traversal has significant potential for aerial robot swarms in various applications. However, it still faces challenges including low time efficiency, susceptibility to local minima, poor resilience to external disturbances, high computational complexity, and high communicat
Preference-based reinforcement learning (PbRL) bypasses explicit reward engineering by inferring reward functions from human preference comparisons, enabling better alignment with human intentions. However, humans often struggle to label a clear preference between similar segments, reducing label ef…
Monocular image-goal navigation in an outdoor environment is a challenging task. Robots have to face monocular scale uncertainty and complex environments. Recently, implementations based on imitation learning have made significant progress. However, robots tend to focus too much on the current state
Comprehending natural language and following human instructions are critical capabilities for intelligent agents. However, the flexibility of linguistic instructions induces substantial ambiguity across language-conditioned tasks, severely degrading algorithmic performance. To address these limitat…
Exploration in sparse reward environments remains a significant challenge in reinforcement learning, particularly in Contextual Markov Decision Processes (CMDPs), where environments differ across episodes. Existing episodic intrinsic motivation methods for CMDPs primarily rely on count-based approac…
Research in offline reinforcement learning (RL) marks a paradigm shift in RL. However, a critical yet under-investigated aspect of offline RL is determining the subset of the offline dataset, which is used to improve algorithm performance while accelerating algorithm training. Moreover, the size of…
The integration of sophisticated Vision-Language Models (VLMs) in vehicular systems is revolutionizing vehicle interaction and safety, performing tasks such as Visual Question Answering (VQA). However, a critical gap persists due to the lack of a comprehensive benchmark for multimodal VQA models in…
Compositional zero-shot learning (CZSL) aims to recognize unseen attribute-object compositions by learning the primitive concepts (*i.e.*, attribute and object) from the training set. While recent works achieve impressive results in CZSL by leveraging large vision-language models like CLIP, they ign…
Fault diagnosis is crucial in mechanical prognostics and health management. However, fault features extracted from single-sensor data are limited in complex operating environments. Extracting complementary and robust fault features from multi-sensor monitoring data is essential, especially under lim…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods exhibit inefficiency since they rely on an iterative paradigm…
Offline reinforcement learning (RL) is crucial for real-world applications where exploration can be costly or unsafe. However, offline learned policies are often suboptimal, and further online fine-tuning is required. In this paper, we tackle the fundamental dilemma of offline-to-online fine-tuning:…
Neural Radiance Fields (NeRFs) are gaining significant interest for online active object reconstruction due to their exceptional memory efficiency and requirement for only posed RGB inputs. Previous NeRF-based view planning methods exhibit computational inefficiency since they rely on an iterative p…
The surge in volumes of video data offers unprecedented opportunities for advancing reinforcement learning (RL). This growth has motivated the development of passive RL, seeking to convert passive observations into actionable insights. This paper explores the prerequisites and mechanisms through whi…
Large language models (LLMs) demonstrate impressive reasoning abilities, but translating reasoning into actions in the real world remains challenging. In particular, it is unclear how to complete a given task provably within a minimum number of interactions with the external environment, e.g., throu…
Previous literature on policy diversity in reinforcement learning (RL) either focuses on the online setting or ignores the policy performance. In contrast, offline RL, which aims to learn high-quality policies from batched data, has yet to fully leverage the intrinsic diversity of the offline datase…
Offline reinforcement learning (RL) enables the agent to effectively learn from logged data, which significantly extends the applicability of RL algorithms in real-world scenarios where exploration can be expensive or unsafe. Previous works have shown that extracting primitive skills from the recurr…
In reinforcement learning (RL), balancing exploration and exploitation is crucial for achieving an optimal policy in a sample-efficient way. To this end, existing sample- efficient algorithms typically consist of three components: estimation, planning, and exploration. However, to cope with general…
Self-supervised methods have become crucial for advancing deep learning by leveraging data itself to reduce the need for expensive annotations. However, the question of how to conduct self-supervised offline reinforcement learning (RL) in a principled way remains unclear. In this paper, we address t…
Reward-free data is abundant and contains rich prior knowledge of human behaviors, but it is not well exploited by offline reinforcement learning (RL) algorithms. In this paper, we propose UBER, an unsupervised approach to extract useful behaviors from offline reward-free datasets via diversified re…
Offline goal-conditioned RL (GCRL) offers a way to train general-purpose agents from fully offline datasets. In addition to being conservative within the dataset, the generalization ability to achieve unseen goals is another fundamental challenge for offline GCRL. However, to the best of our knowled…
Logistics warehouses face the challenge of fulfilling large bulk pick orders limit in a given time, as the information of logistics orders is different and timeliness. Therefore, in automated warehouses, it is imperative to improve the efficiency and intelligence of order picking by robotic systems.…
Offline reinforcement learning (RL) shows promise of applying RL to real-world problems by effectively utilizing previously collected data. Most existing offline RL algorithms use regularization or constraints to suppress extrapolation error for actions outside the dataset. In this paper, we adopt a…
Offline reinforcement learning (RL) enables effective learning from previously collected data without exploration, which shows great promise in real-world applications when exploration is expensive or even infeasible. The discount factor, $\gamma$, plays a vital role in improving online RL sample ef…
The growing interest in explainable artificial intelligence(XAI) for critical decision making motivates the need for interpretable machine learning (ML) models. In fact, due to their structure (especially with small sizes), these models are inherently understandable by humans. Recently, several exac…
The view planning (VP) problem in robotic active vision enables a robot system to automatically perform object reconstruction tasks. Lacking prior knowledge, next-best-view (NBV) methods are typically used to plan a view sequence, with the goal of covering as many object surface areas as possible in
Episodic memory-based methods can rapidly latch onto past successful strategies by a non-parametric memory and improve sample efficiency of traditional reinforcement learning. However, little effort is put into the continuous domain, where a state is never visited twice, and previous episodic method…
Meta reinforcement learning (meta-RL) extracts knowledge from previous tasks and achieves fast adaptation to new tasks. Despite recent progress, efficient exploration in meta-RL remains a key challenge in sparse-reward tasks, as it requires quickly finding informative task-relevant experiences in bo…
Double Q-learning is a classical method for reducing overestimation bias, which is caused by taking maximum estimated values in the Bellman operation. Its variants in the deep Q-learning paradigm have shown great promise in producing reliable value prediction and improving learning performance. Howe…
Recently, several exact methods to compute decision trees have been introduced. On the one hand, these approaches can find optimal trees for various objective functions including total size, depth or accuracy on the training set and therefore. On the other hand, these methods are not yet widely use…
In this paper, we present a novel localized Generative Adversarial Net (GAN) to learn on the manifold of real data. Compared with the classic GAN that {em globally} parameterizes a manifold, the Localized GAN (LGAN) uses local coordinate charts to parameterize distinct local geometry of how data poi…
Modeling temporal sequences plays a fundamental role in various modern applications and has drawn more and more attentions in the machine learning community. Among those efforts on improving the capability to represent temporal data, the Long Short-Term Memory (LSTM) has achieved great success in ma…