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Representation learning becomes especially important for complex systems with multimodal data sources such as cameras or sensors. Recent advances in reinforcement learning and optimal control make it possible to design control algorithms on…

Tabular reinforcement learning methods cannot operate directly on continuous state spaces. One solution for this problem is to partition the state space. A good partitioning enables generalization during learning and more efficient…

Model-based reinforcement learning methods typically learn models for high-dimensional state spaces by aiming to reconstruct and predict the original observations. However, drawing inspiration from model-free reinforcement learning, we…

Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoencoders or inverse dynamics enable goal-conditioned decision…

Representation learning methods are an important tool for addressing the challenges posed by complex observations spaces in sequential decision making problems. Recently, many methods have used a wide variety of types of approaches for…

The ability to learn good representations of states is essential for solving large reinforcement learning problems, where exploration, generalization, and transfer are particularly challenging. The Laplacian representation is a promising…

Deep Reinforcement Learning has shown its ability in solving complicated problems directly from high-dimensional observations. However, in end-to-end settings, Reinforcement Learning algorithms are not sample-efficient and requires long…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

In this paper we introduce a simple approach for exploration in reinforcement learning (RL) that allows us to develop theoretically justified algorithms in the tabular case but that is also extendable to settings where function…

We consider the problem of learning to map from natural language instructions to state transitions (actions) in a data-efficient manner. Our method takes inspiration from the idea that it should be easier to ground language to concepts that…

Recently, many reinforcement learning techniques were shown to have provable guarantees in the simple case of linear dynamics, especially in problems like linear quadratic regulators. However, in practice, many reinforcement learning…

We consider the problem of building a state representation model in a continual fashion. As the environment changes, the aim is to efficiently compress the sensory state's information without losing past knowledge. The learned features are…

In this paper we consider the problem of how a reinforcement learning agent that is tasked with solving a sequence of reinforcement learning problems (a sequence of Markov decision processes) can use knowledge acquired early in its lifetime…

We consider the generic approach of using an experience memory to help exploration by adapting a restart distribution. That is, given the capacity to reset the state with those corresponding to the agent's past observations, we help…

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby…

Balancing exploration and exploitation is a fundamental part of reinforcement learning, yet most state-of-the-art algorithms use a naive exploration protocol like $\epsilon$-greedy. This contributes to the problem of high sample complexity,…

In the face of difficult exploration problems in reinforcement learning, we study whether giving an agent an object-centric mapping (describing a set of items and their attributes) allow for more efficient learning. We found this problem is…

Abstraction is key to scaling up reinforcement learning (RL). However, autonomously learning abstract state and action representations to enable transfer and generalization remains a challenging open problem. This paper presents a novel…

One of the most critical challenges in deep reinforcement learning is to maintain the long-term exploration capability of the agent. To tackle this problem, it has been recently proposed to provide intrinsic rewards for the agent to…

We present a new model-based algorithm for reinforcement learning (RL) which consists of explicit exploration and exploitation phases, and is applicable in large or infinite state spaces. The algorithm maintains a set of dynamics models…