This is based on work from Knutti et al. The heteroscedastic loss function is prone to episodes of catastrophic forgetting. Synthetic experiment Ozone experimentSpatial coord scaling 2 2 Temporal coord scaling (month of year) 1 2 Temporal coord scaling (total months) 1 1 Number of physical models 4 15 Number of neural network ensemble members 50 65 Bias mean. Noise mean prior 0. 02 0 .015 In the following, we derive the anchored ensembling loss function for the heteroscedastic case.

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand. In contrast, reinforcement learning (RL) can acquire behaviors from low-level inputs directly, but struggles with temporally extended tasks. Can we utilize reinforcement learning to automatically form the abstractions needed for planning, thus obtaining the best of both approaches? We show that goal-conditioned policies learned with RL can be incorporated into planning, such that a planner can focus on which states to reach, rather than how those states are reached. However, with complex state observations such as images, not all inputs represent valid states. We therefore also propose using a latent variable model to compactly represent the set of valid states for the planner, such that the policies provide an abstraction of actions, and the latent variable model provides an abstraction of states. We compare our method with planning-based and model-free methods and find that our method significantly outperforms prior work when evaluated on image-based tasks that require non-greedy, multi-staged behavior.

Text-based games present a unique class of sequential decision making problem in which agents interact with a partially observable, simulated environment via actions and observations conveyed through natural language. Such observations typically include instructions that, in a reinforcement learning (RL) setting, can directly or indirectly guide a player towards completing reward-worthy tasks. In this work, we study the ability of RL agents to follow such instructions. We conduct experiments that show that the performance of state-of-the-art text-based game agents is largely unaffected by the presence or absence of such instructions, and that these agents are typically unable to execute tasks to completion. To further study and address the task of instruction following, we equip RL agents with an internal structured representation of natural language instructions in the form of Linear Temporal Logic (LTL), a formal language that is increasingly used for temporally extended reward specification in RL. Our framework both supports and highlights the benefit of understanding the temporal semantics of instructions and in measuring progress towards achievement of such a temporally extended behaviour. Experiments with 500+ games in TextWorld demonstrate the superior performance of our approach.

Recurrent neural networks have a strong inductive bias towards learning temporally compressed representations, as the entire history of a sequence is represented by a single vector. By contrast, Transformers have little inductive bias towards learning temporally compressed representations, as they allow for attention over all previously computed elements in a sequence. Having a more compressed representation of a sequence may be beneficial for generalization, as a high-level representation may be more easily re-used and re-purposed and will contain fewer irrelevant details. At the same time, excessive compression of representations comes at the cost of expressiveness. We propose a solution which divides computation into two streams. A slow stream that is recurrent in nature aims to learn a specialized and compressed representation, by forcing chunks of $K$ time steps into a single representation which is divided into multiple vectors. At the same time, a fast stream is parameterized as a Transformer to process chunks consisting of $K$ time-steps conditioned on the information in the slow-stream. In the proposed approach we hope to gain the expressiveness of the Transformer, while encouraging better compression and structuring of representations in the slow stream. We show the benefits of the proposed method in terms of improved sample efficiency and generalization performance as compared to various competitive baselines for visual perception and sequential decision making tasks.

In reinforcement learning, option models (Sutton, Precup & Singh, 1999; Precup, 2000) provide the framework for this kind of temporally abstract prediction and reasoning. Natural intelligent agents are also able to focus their attention on courses of action that are relevant or feasible in a given situation, sometimes termed affordable actions.

In reinforcement learning, option models (Sutton, Precup & Singh, 1999; Precup, 2000) provide the framework for this kind of temporally abstract prediction and reasoning. Natural intelligent agents are also able to focus their attention on courses of action that are relevant or feasible in a given situation, sometimes termed affordable actions.

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.

Dance-to-music (D2M) generation aims to automatically compose music that is rhythmically and temporally aligned with dance movements. Existing methods typically rely on coarse rhythm embeddings, such as global motion features or binarized joint-based rhythm values, which discard fine-grained motion cues and result in weak rhythmic alignment. Moreover, temporal mismatches introduced by feature downsampling further hinder precise synchronization between dance and music. To address these problems, we propose \textbf{GACA-DiT}, a diffusion transformer-based framework with two novel modules for rhythmically consistent and temporally aligned music generation. First, a \textbf{genre-adaptive rhythm extraction} module combines multi-scale temporal wavelet analysis and spatial phase histograms with adaptive joint weighting to capture fine-grained, genre-specific rhythm patterns. Second, a \textbf{context-aware temporal alignment} module resolves temporal mismatches using learnable context queries to align music latents with relevant dance rhythm features. Extensive experiments on the AIST++ and TikTok datasets demonstrate that GACA-DiT outperforms state-of-the-art methods in both objective metrics and human evaluation. Project page: https://beria-moon.github.io/GACA-DiT/.

Autonomous driving (AD) has achieved significant progress, yet single-vehicle perception remains constrained by sensing range and occlusions. Vehicle-to-Everything (V2X) communication addresses these limits by enabling collaboration across vehicles and infrastructure, but it also faces heterogeneity, synchronization, and latency constraints. Language models offer strong knowledge-driven reasoning and decision-making capabilities, but they are not inherently designed to process raw sensor streams and are prone to hallucination. We propose V2X-UniPool, the first framework that unifies V2X perception with language-based reasoning for knowledge-driven AD. It transforms multimodal V2X data into structured, language-based knowledge, organizes it in a time-indexed knowledge pool for temporally consistent reasoning, and employs Retrieval-Augmented Generation (RAG) to ground decisions in real-time context. Experiments on the real-world DAIR-V2X dataset show that V2X-UniPool achieves state-of-the-art planning accuracy and safety while reducing communication cost by more than 80\%, achieving the lowest overhead among evaluated methods. These results highlight the promise of bridging V2X perception and language reasoning to advance scalable and trustworthy driving. Our code is available at: https://github.com/Xuewen2025/V2X-UniPool