Related papers: An Analysis of Frame-skipping in Reinforcement Lea…
Reinforcement Learning (RL) is a well-established framework for sequential decision-making in complex environments. However, state-of-the-art Deep RL (DRL) algorithms typically require large training datasets and often struggle to…
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…
Deep reinforcement learning algorithms can learn complex behavioral skills, but real-world application of these methods requires a large amount of experience to be collected by the agent. In practical settings, such as robotics, this…
Deep Reinforcement Learning (RL) is mainly studied in a setting where the training and the testing environments are similar. But in many practical applications, these environments may differ. For instance, in control systems, the robot(s)…
Reinforcement learning (RL) allows an agent interacting sequentially with an environment to maximize its long-term expected return. In the distributional RL (DistrRL) paradigm, the agent goes beyond the limit of the expected value, to…
Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using deep neural networks as function approximators to learn directly from raw input images. However, learning directly from raw images…
Reinforcement Learning (RL) can model complex behavior policies for goal-directed sequential decision making tasks. A hallmark of RL algorithms is Temporal Difference (TD) learning: value function for the current state is moved towards a…
In standard reinforcement learning (RL), a learning agent seeks to optimize the overall reward. However, many key aspects of a desired behavior are more naturally expressed as constraints. For instance, the designer may want to limit the…
Standard reinforcement learning (RL) assumes that an agent can observe a reward for each state-action pair. However, in practical applications, it is often difficult and costly to collect a reward for each state-action pair. While there…
Robotic imitation learning typically assumes access to optimal demonstrations, yet real-world data collection often yields suboptimal, exploratory, or even failed trajectories. Discarding such data wastes valuable information about…
In this paper, we revisit the regret of undiscounted reinforcement learning in MDPs with a birth and death structure. Specifically, we consider a controlled queue with impatient jobs and the main objective is to optimize a trade-off between…
Reinforcement learning (RL) has shown its strength in challenging sequential decision-making problems. The reward function in RL is crucial to the learning performance, as it serves as a measure of the task completion degree. In real-world…
Recent work in reinforcement learning has focused on several characteristics of learned policies that go beyond maximizing reward. These properties include fairness, explainability, generalization, and robustness. In this paper, we define…
Cost functions are commonly employed in Safe Deep Reinforcement Learning (DRL). However, the cost is typically encoded as an indicator function due to the difficulty of quantifying the risk of policy decisions in the state space. Such an…
The reinforcement learning community has made great strides in designing algorithms capable of exceeding human performance on specific tasks. These algorithms are mostly trained one task at the time, each new task requiring to train a brand…
Reinforcement Learning (RL) has achieved remarkable success in various continuous control tasks, such as robot manipulation and locomotion. Different to mainstream RL which makes decisions at individual steps, recent studies have…
LLMs utilizing chain-of-thought reasoning often waste substantial compute by producing long, incorrect responses. Abstention can mitigate this by withholding outputs unlikely to be correct. While most abstention methods decide to withhold…
The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…
In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…
Representation learning is a powerful tool that enables learning over large multitudes of agents or domains by enforcing that all agents operate on a shared set of learned features. However, many robotics or controls applications that would…