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In this paper we present a novel method for learning hierarchical representations of Markov decision processes. Our method works by partitioning the state space into subsets, and defines subtasks for performing transitions between the…

In this paper, we propose an extremely simple deep model for the unsupervised nonlinear dimensionality reduction -- deep distributed random samplings, which performs like a stack of unsupervised bootstrap aggregating. First, its network…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

Inspired by the brain, deep neural networks (DNN) are thought to learn abstract representations through their hierarchical architecture. However, at present, how this happens is not well understood. Here, we demonstrate that DNN learn…

We propose a novel hierarchical reinforcement learning framework for control with continuous state and action spaces. In our framework, the user specifies subgoal regions which are subsets of states; then, we (i) learn options that serve as…

Intelligent agents can cope with sensory-rich environments by learning task-agnostic state abstractions. In this paper, we propose an algorithm to approximate causal states, which are the coarsest partition of the joint history of actions…

Learning meaningful abstract models of Markov Decision Processes (MDPs) is crucial for improving generalization from limited data. In this work, we show how geometric priors can be imposed on the low-dimensional representation manifold of a…

Can simple algorithms with a good representation solve challenging reinforcement learning problems? In this work, we answer this question in the affirmative, where we take "simple learning algorithm" to be tabular Q-Learning, the "good…

Symbolic control techniques aim to satisfy complex logic specifications. A critical step in these techniques is the construction of a symbolic (discrete) abstraction, a finite-state system whose behaviour mimics that of a given…

Effective agent exploration remains a core challenge in reinforcement learning (RL) for complex discrete state-space environments, particularly under partial observability. This paper presents a decoupled hierarchical RL framework…

Many methods for Model-based Reinforcement learning (MBRL) in Markov decision processes (MDPs) provide guarantees for both the accuracy of the model they can deliver and the learning efficiency. At the same time, state abstraction…

In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the position and orientation of objects in the world. For example,…

Neural networks often learn task-specific latent representations that fail to generalize to novel settings or tasks. Conversely, humans learn discrete representations (i.e., concepts or words) at a variety of abstraction levels (e.g.,…

Discovering an informative, or agent-centric, state representation that encodes only the relevant information while discarding the irrelevant is a key challenge towards scaling reinforcement learning algorithms and efficiently applying them…

Formally verifying Deep Reinforcement Learning (DRL) systems is a challenging task due to the dynamic continuity of system behaviors and the black-box feature of embedded neural networks. In this paper, we propose a novel abstraction-based…

Abstraction has been widely studied as a way to improve the efficiency and generalization of reinforcement learning algorithms. In this paper, we study abstraction in the continuous-control setting. We extend the definition of MDP…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

Learning generalizeable policies from visual input in the presence of visual distractions is a challenging problem in reinforcement learning. Recently, there has been renewed interest in bisimulation metrics as a tool to address this issue;…

Many software engineering tasks, such as testing, and anomaly detection can benefit from the ability to infer a behavioral model of the software.Most existing inference approaches assume access to code to collect execution sequences. In…

Most of the works on planning and learning, e.g., planning by (model based) reinforcement learning, are based on two main assumptions: (i) the set of states of the planning domain is fixed; (ii) the mapping between the observations from the…