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In swarm robotics, confrontation including the pursuit-evasion game is a key scenario. High uncertainty caused by unknown opponents' strategies, dynamic obstacles, and insufficient training complicates the action space into a hybrid…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…

Learning-based grasping can afford real-time grasp motion planning of multi-fingered robotics hands thanks to its high computational efficiency. However, learning-based methods are required to explore large search spaces during the learning…

Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Agents that interact with other agents often do not know a priori what the other agents' strategies are, but have to maximise their own online return while interacting with and learning about others. The optimal adaptive behaviour under…

The objective of lifelong reinforcement learning (RL) is to optimize agents which can continuously adapt and interact in changing environments. However, current RL approaches fail drastically when environments are non-stationary and…

Recent research has turned to Reinforcement Learning (RL) to solve challenging decision problems, as an alternative to hand-tuned heuristics. RL can learn good policies without the need for modeling the environment's dynamics. Despite this…

We address two major challenges of implicit coordination in multi-agent deep reinforcement learning: non-stationarity and exponential growth of state-action space, by combining Deep-Q Networks for policy learning with Nash equilibrium for…

Humans decompose novel complex tasks into simpler ones to exploit previously learned skills. Analogously, hierarchical reinforcement learning seeks to leverage lower-level policies for simple tasks to solve complex ones. However, because…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Deep reinforcement learning techniques have demonstrated superior performance in a wide variety of environments. As improvements in training algorithms continue at a brisk pace, theoretical or empirical studies on understanding what these…

The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…

In this work, we study model-based reinforcement learning (RL) in unknown stabilizable linear dynamical systems. When learning a dynamical system, one needs to stabilize the unknown dynamics in order to avoid system blow-ups. We propose an…