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Meta reinforcement learning (Meta-RL) is an approach wherein the experience gained from solving a variety of tasks is distilled into a meta-policy. The meta-policy, when adapted over only a small (or just a single) number of steps, is able…

Offline reinforcement learning (RL) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

We introduce DynaMITE-RL, a meta-reinforcement learning (meta-RL) approach to approximate inference in environments where the latent state evolves at varying rates. We model episode sessions - parts of the episode where the latent state is…

Meta reinforcement learning (Meta RL) has been amply explored to quickly learn an unseen task by transferring previously learned knowledge from similar tasks. However, most state-of-the-art algorithms require the meta-training tasks to have…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Meta-reinforcement learning (meta-RL) is a promising approach that enables the agent to learn new tasks quickly. However, most meta-RL algorithms show poor generalization in multi-task scenarios due to the insufficient task information…

Meta-learning is a branch of machine learning which trains neural network models to synthesize a wide variety of data in order to rapidly solve new problems. In process control, many systems have similar and well-understood dynamics, which…

In recent years deep reinforcement learning (RL) systems have attained superhuman performance in a number of challenging task domains. However, a major limitation of such applications is their demand for massive amounts of training data. A…

We study reinforcement learning (RL) in settings where observations are high-dimensional, but where an RL agent has access to abstract knowledge about the structure of the state space, as is the case, for example, when a robot is tasked to…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

For deep reinforcement learning (RL) from pixels, learning effective state representations is crucial for achieving high performance. However, in practice, limited experience and high-dimensional inputs prevent effective representation…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…

Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Pretraining reinforcement learning (RL) models on offline datasets is a promising way to improve their training efficiency in online tasks, but challenging due to the inherent mismatch in dynamics and behaviors across various tasks. We…

Meta-learning is a branch of machine learning which aims to quickly adapt models, such as neural networks, to perform new tasks by learning an underlying structure across related tasks. In essence, models are being trained to learn new…