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This paper introduces a novel reinforcement learning (RL) strategy designed to facilitate rapid autonomy transfer by utilizing pre-trained critic value functions from multiple environments. Unlike traditional methods that require extensive…

Curriculum learning has been successfully used in reinforcement learning to accelerate the learning process, through knowledge transfer between tasks of increasing complexity. Critical tasks, in which suboptimal exploratory actions must be…

While MPC enables nonlinear feedback control by solving an optimal control problem at each timestep, the computational burden tends to be significantly large, making it difficult to optimize a policy within the control period. To address…

This paper presents a distributed learning model predictive control (DLMPC) scheme for distributed linear time invariant systems with coupled dynamics and state constraints. The proposed solution method is based on an online distributed…

In this paper, a unified framework for exploration in reinforcement learning (RL) is proposed based on an option-critic model. The proposed framework learns to integrate a set of diverse exploration strategies so that the agent can…

Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the…

Distributed access control is a crucial component for massive machine type communication (mMTC). In this communication scenario, centralized resource allocation is not scalable because resource configurations have to be sent frequently from…

We study the problem of reinforcement learning in infinite-horizon discounted linear Markov decision processes (MDPs), and propose the first computationally efficient algorithm achieving rate-optimal regret guarantees in this setting. Our…

Multitask learning is a powerful framework that enables one to simultaneously learn multiple related tasks by sharing information between them. Quantifying uncertainty in the estimated tasks is of pivotal importance for many downstream…

The problem of learning simultaneously several related tasks has received considerable attention in several domains, especially in machine learning with the so-called multitask learning problem or learning to learn problem [1], [2].…

This paper describes a purely data-driven solution to a class of sequential decision-making problems with a large number of concurrent online decisions, with applications to computing systems and operations research. We assume that while…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

Incremental learning methods can learn new classes continually by distilling knowledge from the last model (as a teacher model) to the current model (as a student model) in the sequentially learning process. However, these methods cannot…

Reinforcement learning in complex environments is a challenging problem. In particular, the success of reinforcement learning algorithms depends on a well-designed reward function. Inverse reinforcement learning (IRL) solves the problem of…

As humans learn new skills and apply their existing knowledge while maintaining previously learned information, "continual learning" in machine learning aims to incorporate new data while retaining and utilizing past knowledge. However,…

Intelligent Tutoring Systems often grant learners shared control over skill and problem selection. This choice brings motivational and metacognitive benefits. At the same time, past literature suggests that learners exhibit diverse…

Transfer Learning has shown great potential to enhance single-agent Reinforcement Learning (RL) efficiency. Similarly, Multiagent RL (MARL) can also be accelerated if agents can share knowledge with each other. However, it remains a problem…

Learning policies for complex tasks that require multiple different skills is a major challenge in reinforcement learning (RL). It is also a requirement for its deployment in real-world scenarios. This paper proposes a novel framework for…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

We study policy distillation under privileged information, where a student policy with only partial observations must learn from a teacher with full-state access. A key challenge is information asymmetry: the student cannot directly access…