Related papers: Option Discovery in Hierarchical Reinforcement Lea…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

Ring attractors, mathematical models inspired by neural circuit dynamics, provide a biologically plausible mechanism to improve learning speed and accuracy in Reinforcement Learning (RL). Serving as specialized brain-inspired structures…

Multi-objective Markov decision processes are sequential decision-making problems that involve multiple conflicting reward functions that cannot be optimized simultaneously without a compromise. This type of problems cannot be solved by a…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

We consider a Continual Reinforcement Learning setup, where a learning agent must continuously adapt to new tasks while retaining previously acquired skill sets, with a focus on the challenge of avoiding forgetting past gathered knowledge…

Unsupervised Reinforcement Learning (RL) aims to discover diverse behaviors that can accelerate the learning of downstream tasks. Previous methods typically focus on entropy-based exploration or empowerment-driven skill learning. However,…

The difficulty of identifying the physical model of complex systems has led to exploring methods that do not rely on such complex modeling of the systems. Deep reinforcement learning has been the pioneer for solving this problem without the…

State abstraction is an effective technique for planning in robotics environments with continuous states and actions, long task horizons, and sparse feedback. In object-oriented environments, predicates are a particularly useful form of…

Reward-free, unsupervised discovery of skills is an attractive alternative to the bottleneck of hand-designing rewards in environments where task supervision is scarce or expensive. However, current skill pre-training methods, like many RL…

Humans achieve efficient learning by relying on prior knowledge about the structure of naturally occurring tasks. There is considerable interest in designing reinforcement learning (RL) algorithms with similar properties. This includes…

This paper presents a new multitask learning framework that learns a shared representation among the tasks, incorporating both task and feature clusters. The jointly-induced clusters yield a shared latent subspace where task relationships…

Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined…

Hierarchical Reinforcement Learning (HRL) promises to solve long-horizon Reinforcement Learning (RL) tasks more efficiently than non-hierarchical counterparts by discovering and reusing temporally-extended skills. However, obtaining skills…

Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution…

Solving real-life sequential decision making problems under partial observability involves an exploration-exploitation problem. To be successful, an agent needs to efficiently gather valuable information about the state of the world for…

We are interested in how to design reinforcement learning agents that provably reduce the sample complexity for learning new tasks by transferring knowledge from previously-solved ones. The availability of solutions to related problems…

Learning procedural-aware video representations is a key step towards building agents that can reason about and execute complex tasks. Existing methods typically address this problem by aligning visual content with textual descriptions at…

Reinforcement learning has the potential to automate the acquisition of behavior in complex settings, but in order for it to be successfully deployed, a number of practical challenges must be addressed. First, in real world settings, when…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…