Recherche nomatique

Abstract: We introduce DEBATE2CREATE (D2C), a multiagent LLM framework that formulates robot codesign as structured, iterative debate grounded in physics-based evaluation. A design agent and control agent engage in a thesis–antithesis–synthesis loop, while criterion-specific LLM judges provide multi-objective feedback to steer exploration. Across five MuJoCo locomotion benchmarks, D2C achieves the highest default-normalized score among the evaluated LLM-based and blackbox baselines, with gains up to 3.2× on Ant and nearly 9× on Swimmer. Iterative debate yields 18–35% gains over compute-matched zero-shot generation, and D2C-generated rewards transfer to default morphologies in 4/5 tasks. These results suggest that structured, simulator-grounded multi-agent interaction is a useful mechanism for joint morphology–reward optimization under a fixed-topology, per-candidate-RL protocol. Project page: debate2create.github.io.

Abstract: We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. Each robot design is represented by a structured grammar, and we use LLMs to efficiently explore this design space. Traditionally, such exploration is time-consuming and computationally intensive. Using a best-shot prompting strategy combined with reinforcement learning (RL)-based control evaluation, RoboMorph iteratively refines robot designs within an evolutionary feedback loop. Across four terrain types, RoboMorph discovers diverse, terrain-specialized morphologies, including wheeled quadrupeds and hexapods, that match or outperform designs produced by Robogrammar’s graphsearch method. These results demonstrate that LLMs, when coupled with evolutionary selection, can serve as effective generative operators for automated robot design. Our project page and code are available at https://robomorph.github.io.

Abstract: State Space Models (SSMs) have become serious contenders in the field of sequential modeling, challenging the dominance of Transformers. At the same time, Mixture of Experts (MoE) has significantly improved Transformer-based Large Language Models, including recent state-of-the-art open models. We propose that to unlock the potential of SSMs for scaling, they should be combined with MoE. We showcase this on Mamba, a recent SSM-based model that achieves remarkable performance. Our model, MoE-Mamba, outperforms Mamba and matches the performance of Transformer-MoE. In particular, MoE-Mamba reaches the same performance as Mamba in fewer training steps while preserving the inference performance gains of Mamba against Transformer.

Abstract: Sample efficiency in Reinforcement Learning (RL) has traditionally been driven by algorithmic enhancements. In this work, we demonstrate that scaling can also lead to substantial improvements. We conduct a thorough investigation into the interplay of scaling model capacity and domain-specific RL enhancements. These empirical findings inform the design choices underlying our proposed BRO (Bigger, Regularized, Optimistic) algorithm. The key innovation behind BRO is that strong regularization allows for effective scaling of the critic networks, which, paired with optimistic exploration, leads to superior performance. BRO achieves state-of-the-art results, significantly outperforming the leading model-based and model-free algorithms across 40 complex tasks from the DeepMind Control, MetaWorld, and MyoSuite benchmarks. BRO is the first model-free algorithm to achieve near-optimal policies in the notoriously challenging Dog and Humanoid tasks.

Abstract: Mixture of Experts (MoE) models based on Transformer architecture are pushing the boundaries of language and vision tasks. The allure of these models lies in their ability to substantially increase the parameter count without a corresponding increase in FLOPs. Most widely adopted MoE models are discontinuous with respect to their parameters - often referred to as sparse. At the same time, existing continuous MoE designs either lag behind their sparse counterparts or are incompatible with autoregressive decoding. Motivated by the observation that the adaptation of fully continuous methods has been an overarching trend in Deep Learning, we develop Mixture of Tokens (MoT), a simple, continuous architecture that is capable of scaling the number of parameters similarly to sparse MoE models. Unlike conventional methods, MoT assigns mixtures of tokens from different examples to each expert. This architecture is fully compatible with autoregressive training and generation. Our best models not only achieve a 3x increase in training speed over dense Transformer models in language pretraining but also match the performance of state-of-the-art MoE architectures. Additionally, a close connection between MoT and MoE is demonstrated through a novel technique we call transition tuning.

Abstract: In this work, we introduce a novel approach for optimizing neural network training by adjusting learning rates across weights of different components in Transformer models. Traditional methods often apply a uniform learning rate across all network layers, potentially overlooking the unique dynamics of each part. Remarkably, our introduced Relative Learning Rate Schedules (RLRS) method accelerates the training process by up to 23%, particularly in complex models such as Mixture of Experts (MoE). Hyperparameters of RLRS can be efficiently tuned on smaller models and then extrapolated to 27× larger ones. This simple and effective method results in a substantial reduction in training time and computational resources, offering a practical and scalable solution for optimizing large-scale neural networks.

Abstract: Risk-aware Reinforcement Learning (RL) algorithms like SAC and TD3 were shown empirically to outperform their risk-neutral counterparts in a variety of continuous-action tasks. However, the theoretical basis for the pessimistic objectives these algorithms employ remains unestablished, raising questions about the specific class of policies they are implementing. In this work, we apply the expected utility hypothesis, a fundamental concept in economics, to illustrate that both risk-neutral and risk-aware RL goals can be interpreted through expected utility maximization using an exponential utility function. This approach reveals that risk-aware policies effectively maximize value certainty equivalent, aligning them with conventional decision theory principles. Furthermore, we propose Dual Actor-Critic (DAC). DAC is a risk-aware, model-free algorithm that features two distinct actor networks: a pessimistic actor for temporal-difference learning and an optimistic actor for exploration. Our evaluations of DAC across various locomotion and manipulation tasks demonstrate improvements in sample efficiency and final performance. Remarkably, DAC, while requiring significantly less computational resources, matches the performance of leading model-based methods in the complex dog and humanoid domains.

Abstract: In this paper, we investigate the issue of error accumulation in critic networks updated via pessimistic temporal difference objectives. We show that the critic approximation error can be approximated via a recursive fixed-point model similar to that of the Bellman value. We use such recursive definition to retrieve the conditions under which the pessimistic critic is unbiased. Building on these insights, we propose Validation Pessimism Learning (VPL) algorithm. VPL uses a small validation buffer to adjust the levels of pessimism throughout the agent training, with the pessimism set such that the approximation error of the critic targets is minimized. We investigate the proposed approach on a variety of locomotion and manipulation tasks and report improvements in sample efficiency and performance.

Abstract: Recent advancements in off-policy Reinforcement Learning (RL) have significantly improved sample efficiency, primarily due to the incorporation of various forms of regularization that enable more gradient update steps than traditional agents. However, many of these techniques have been tested in limited settings, often on tasks from single simulation benchmarks and against well-known algorithms rather than a range of regularization approaches. This limits our understanding of the specific mechanisms driving RL improvements. To address this, we implemented over 60 different off-policy agents, each integrating established regularization techniques from recent state-of-the-art algorithms. We tested these agents across 14 diverse tasks from 2 simulation benchmarks, measuring training metrics related to overestimation, overfitting, and plasticity loss — issues that motivate the examined regularization techniques. Our findings reveal that while the effectiveness of a specific regularization setup varies with the task, certain combinations consistently demonstrate robust and superior performance. Notably, a simple Soft Actor-Critic agent, appropriately regularized, reliably finds a better-performing policy within the training regime, which previously was achieved mainly through model-based approaches.

Abstract: Mixture of Experts (MoE) models have emerged as a primary solution for reducing the computational cost of Large Language Models. In this work, we analyze their scaling properties, highlighting certain arbitrary assumptions present in the existing literature. In particular, we introduce a new hyperparameter, granularity, the modification of which allows for the optimal adjustment of the size of experts. Subsequently, we present scaling laws for fine-grained MoE, taking into account the number of training tokens, model size, and granularity. Using these scaling laws, we derive the optimal training configuration for a given computational budget. Furthermore, in contrast with previous works, we demonstrate that the gap in efficiency between dense and MoE models grows as we scale up the model size and training budget.

Abstract: We present Polite Teacher, a simple yet effective method for the task of semi-supervised instance segmentation. The proposed architecture relies on the Teacher-Student mutual learning framework. To filter out noisy pseudo-labels, we use confidence thresholding for bounding boxes and mask scoring for masks. The approach has been tested with CenterMask, a single-stage anchor-free detector. Tested on the COCO 2017 val dataset, our architecture significantly (approx. +8 pp. in mask AP) outperforms the baseline at different supervision regimes. To the best of our knowledge, this is one of the first works tackling the problem of semi-supervised instance segmentation and the first one devoted to an anchor-free detector. The code is available: github.com/AI-Clearing/PoliteTeacher.

Abstract: We study the variance of stochastic policy gradients (SPGs) with many action samples per state. We derive a many-actions optimality condition, which determines when many-actions SPG yields lower variance as compared to a singleaction agent with proportionally extended trajectory. We propose Model-Based Many-Actions (MBMA), an approach leveraging dynamics models for many-actions sampling in the context of SPG. MBMA addresses issues associated with existing implementations of many-actions SPG and yields lower bias and comparable variance to SPG estimated from states in model-simulated rollouts. We find that MBMA bias and variance structure matches that predicted by theory. As a result, MBMA achieves improved sample efficiency and higher returns on a range of continuous action environments as compared to model-free, many-actions, and model-based on-policy SPG baselines.

Abstract: Neural networks are prone to adversarial attacks. In general, such attacks deteriorate the quality of the input by either slightly modifying most of its pixels, or by occluding it with a patch. In this paper, we propose a method that keeps the image unchanged and only adds an adversarial framing on the border of the image. We show empirically that our method is able to successfully attack state-of-theart methods on both image and video classification problems. Notably, the proposed method results in a universal attack which is very fast at test time. Source code can be found at github.com/zajaczajac/adv_framing