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Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Model-free algorithms are brought into the control system's research with the emergence of reinforcement learning algorithms. However, there are two practical challenges of reinforcement learning-based methods. First, learning by…

We propose a method to predict the sim-to-real transfer performance of RL policies. Our transfer metric simplifies the selection of training setups (such as algorithm, hyperparameters, randomizations) and policies in simulation, without the…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

Obtaining reliable state preparation protocols is a key step towards practical implementation of many quantum technologies, and one of the main tasks in quantum control. In this work, different reinforcement learning approaches are used to…

Physics-based reinforcement learning tasks can benefit from simplified physics simulators as they potentially allow near-optimal policies to be learned in simulation. However, such simulators require the latent factors (e.g. mass, friction…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

In practice, the parameters of control policies are often tuned manually. This is time-consuming and frustrating. Reinforcement learning is a promising alternative that aims to automate this process, yet often requires too many experiments…

Safe reinforcement learning is a promising path toward applying reinforcement learning algorithms to real-world problems, where suboptimal behaviors may lead to actual negative consequences. In this work, we focus on the setting where…

Sim-to-real transfer is a powerful paradigm for robotic reinforcement learning. The ability to train policies in simulation enables safe exploration and large-scale data collection quickly at low cost. However, prior works in sim-to-real…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

We study the problem of learning a good set of policies, so that when combined together, they can solve a wide variety of unseen reinforcement learning tasks with no or very little new data. Specifically, we consider the framework of…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

Learning-based controllers are often purposefully kept out of real-world applications due to concerns about their safety and reliability. We explore how state-of-the-art world models in Model-Based Reinforcement Learning can be utilized…

Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…

Learning to evaluate and improve policies is a core problem of Reinforcement Learning (RL). Traditional RL algorithms learn a value function defined for a single policy. A recently explored competitive alternative is to learn a single value…