Related papers: Accelerating Reinforcement Learning for Reaching u…
Action-constrained reinforcement learning (ACRL) is a generic framework for learning control policies with zero action constraint violation, which is required by various safety-critical and resource-constrained applications. The existing…
One of the well-known challenges in computer vision tasks is the visual diversity of images, which could result in an agreement or disagreement between the learned knowledge and the visual content exhibited by the current observation. In…
Multi-task Vehicle Routing Problems (VRPs) aim to minimize routing costs while satisfying diverse constraints. Existing solvers typically adopt a unified reinforcement learning (RL) framework to learn generalizable patterns across tasks.…
Despite considerable advances in deep reinforcement learning, it has been shown to be highly vulnerable to adversarial perturbations to state observations. Recent efforts that have attempted to improve adversarial robustness of…
Continual learning (CL) is crucial for evaluating adaptability in learning solutions to retain knowledge. Our research addresses the challenge of catastrophic forgetting, where models lose proficiency in previously learned tasks as they…
Continual learning (CL) learns a sequence of tasks incrementally with the goal of achieving two main objectives: overcoming catastrophic forgetting (CF) and encouraging knowledge transfer (KT) across tasks. However, most existing techniques…
This research focuses on enhancing reinforcement learning (RL) algorithms by integrating penalty functions to guide agents in avoiding unwanted actions while optimizing rewards. The goal is to improve the learning process by ensuring that…
Curriculum learning is a training mechanism in reinforcement learning (RL) that facilitates the achievement of complex policies by progressively increasing the task difficulty during training. However, designing effective curricula for a…
Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL…
An important challenge in reinforcement learning is training agents that can solve a wide variety of tasks. If tasks depend on each other (e.g. needing to learn to walk before learning to run), curriculum learning can speed up learning by…
One of the main goals of reinforcement learning (RL) is to provide a~way for physical machines to learn optimal behavior instead of being programmed. However, effective control of the machines usually requires fine time discretization. The…
Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking…
Reinforcement learning (RL) is a powerful approach for acquiring a good-performing policy. However, learning diverse skills is challenging in RL due to the commonly used Gaussian policy parameterization. We propose \textbf{Di}verse…
A major challenge in the Deep RL (DRL) community is to train agents able to generalize over unseen situations, which is often approached by training them on a diversity of tasks (or environments). A powerful method to foster diversity is to…
Reinforcement learning (RL) commonly relies on scalar rewards with limited ability to express temporal, conditional, or safety-critical goals, and can lead to reward hacking. Temporal logic expressible via the more general class of…
Continual Reinforcement Learning (CRL) aims to develop lifelong learning agents to continuously acquire knowledge across diverse tasks while mitigating catastrophic forgetting. This requires efficiently managing the stability-plasticity…
Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…
In this paper, a novel switching pushing skill algorithm is proposed to improve the efficiency of planar non-prehensile manipulation, which draws inspiration from human pushing actions and comprises two sub-problems, i.e., discrete…
In recent years, we have witnessed tremendous progress in deep reinforcement learning (RL) for tasks such as Go, Chess, video games, and robot control. Nevertheless, other combinatorial domains, such as AI planning, still pose considerable…
Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…