{"id":"https://openalex.org/W4405785192","doi":"https://doi.org/10.1109/iros58592.2024.10802437","title":"Predictive Coding for Decision Transformer","display_name":"Predictive Coding for Decision Transformer","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785192","doi":"https://doi.org/10.1109/iros58592.2024.10802437"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028393159","display_name":"Tung M. Luu","orcid":"https://orcid.org/0000-0001-9488-7463"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Tung M. Luu","raw_affiliation_strings":["KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115592044","display_name":"Dong-Hoon Lee","orcid":"https://orcid.org/0009-0007-3853-0911"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghoon Lee","raw_affiliation_strings":["KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073287748","display_name":"Chang D. Yoo","orcid":"https://orcid.org/0000-0002-0756-7179"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang D. Yoo","raw_affiliation_strings":["KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"KAIST (Korea Advanced Institute of Science and Technology),School of Electrical Engineering,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028393159"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.0911,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.82681213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7469","last_page":"7476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.6507999897003174,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.6507999897003174,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5918794274330139},{"id":"https://openalex.org/keywords/predictive-coding","display_name":"Predictive coding","score":0.4521300494670868},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4509822130203247},{"id":"https://openalex.org/keywords/coding","display_name":"Coding (social sciences)","score":0.3841709494590759},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.18189868330955505},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15536633133888245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14216861128807068},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.12903830409049988},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10783880949020386}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5918794274330139},{"id":"https://openalex.org/C2778061373","wikidata":"https://www.wikidata.org/wiki/Q1315146","display_name":"Predictive coding","level":3,"score":0.4521300494670868},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4509822130203247},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.3841709494590759},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.18189868330955505},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15536633133888245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14216861128807068},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.12903830409049988},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10783880949020386}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W2201087437","https://openalex.org/W2903739847","https://openalex.org/W2909906617","https://openalex.org/W2962894046","https://openalex.org/W3090153548","https://openalex.org/W3096609285","https://openalex.org/W3141423234","https://openalex.org/W3163652268","https://openalex.org/W4313156423","https://openalex.org/W4389667622","https://openalex.org/W6635701881","https://openalex.org/W6638088447","https://openalex.org/W6737327832","https://openalex.org/W6739901393","https://openalex.org/W6753060773","https://openalex.org/W6753243525","https://openalex.org/W6755207826","https://openalex.org/W6757469721","https://openalex.org/W6763704811","https://openalex.org/W6765008394","https://openalex.org/W6770887232","https://openalex.org/W6772111244","https://openalex.org/W6776601253","https://openalex.org/W6777091672","https://openalex.org/W6777656069","https://openalex.org/W6778883912","https://openalex.org/W6779265984","https://openalex.org/W6779463497","https://openalex.org/W6784333009","https://openalex.org/W6786103492","https://openalex.org/W6796289742","https://openalex.org/W6796761347","https://openalex.org/W6802659552","https://openalex.org/W6804244202","https://openalex.org/W6804404469","https://openalex.org/W6810653392","https://openalex.org/W6810745647","https://openalex.org/W6811554491","https://openalex.org/W6838968580","https://openalex.org/W6839526036","https://openalex.org/W6842456838","https://openalex.org/W6842475989","https://openalex.org/W6846142413","https://openalex.org/W6846316339","https://openalex.org/W6846741855","https://openalex.org/W6849393845","https://openalex.org/W6852147282","https://openalex.org/W6852575923","https://openalex.org/W6853057106","https://openalex.org/W6853988611","https://openalex.org/W6855810894","https://openalex.org/W6922480057"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2955990109","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"Recent":[0],"work":[1],"in":[2,42,59,65,80,160],"offline":[3,161],"reinforcement":[4],"learning":[5],"(RL)":[6],"has":[7,24],"demonstrated":[8],"the":[9,19,49,90,113,139],"effectiveness":[10],"of":[11,51],"formulating":[12],"decision-making":[13,121],"as":[14],"return-conditioned":[15],"supervised":[16],"learning.":[17],"Notably,":[18],"decision":[20],"transformer":[21],"(DT)":[22],"architecture":[23,110],"shown":[25],"promise":[26],"across":[27],"various":[28],"domains.":[29],"However,":[30],"despite":[31],"its":[32],"initial":[33],"success,":[34],"DTs":[35,66],"have":[36],"underperformed":[37],"on":[38,117,123,135,149,170],"several":[39],"challenging":[40],"datasets":[41,137],"goal-conditioned":[43,162],"RL.":[44,163],"This":[45],"limitation":[46],"stems":[47],"from":[48,138],"inefficiency":[50],"return":[52],"conditioning":[53,102],"for":[54,93],"guiding":[55],"policy":[56],"learning,":[57],"particularly":[58],"unstructured":[60],"and":[61,126,141,157],"suboptimal":[62],"datasets,":[63],"resulting":[64],"failing":[67],"to":[68,103],"effectively":[69],"learn":[70],"temporal":[71],"compositionality.":[72],"Moreover,":[73],"this":[74,86],"problem":[75],"might":[76],"be":[77],"further":[78],"exacerbated":[79],"long-horizon":[81],"sparse-reward":[82],"tasks.":[83],"To":[84],"address":[85],"challenge,":[87],"we":[88,165],"propose":[89],"Predictive":[91],"Coding":[92],"Decision":[94],"Transformer":[95],"(PCDT)":[96],"framework,":[97,115],"which":[98],"leverages":[99],"generalized":[100],"future":[101,127],"enhance":[104],"DT":[105,114],"methods.":[106],"PCDT":[107],"utilizes":[108],"an":[109],"that":[111],"extends":[112],"conditioned":[116],"predictive":[118],"codings,":[119],"enabling":[120],"based":[122],"both":[124],"past":[125],"factors,":[128],"thereby":[129],"improving":[130],"generalization.":[131],"Through":[132],"extensive":[133],"experiments":[134],"eight":[136],"AntMaze":[140],"FrankaKitchen":[142],"environments,":[143],"our":[144,168],"proposed":[145],"method":[146,169],"achieves":[147],"performance":[148],"par":[150],"with":[151,174],"or":[152],"surpassing":[153],"existing":[154],"popular":[155],"value-based":[156],"transformer-based":[158],"methods":[159],"Furthermore,":[164],"also":[166],"evaluate":[167],"a":[171,175],"goal-reaching":[172],"task":[173],"physical":[176],"robot.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
