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Standard deep reinforcement learning (DRL) aims to maximize expected reward, considering collected experiences equally in formulating a policy. This differs from human decision-making, where gains and losses are valued differently and…
Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…
Experience replay (ER) is a fundamental component of off-policy deep reinforcement learning (RL). ER recalls experiences from past iterations to compute gradient estimates for the current policy, increasing data-efficiency. However, the…
Pretraining with expert demonstrations have been found useful in speeding up the training process of deep reinforcement learning algorithms since less online simulation data is required. Some people use supervised learning to speed up the…
The utilization of the experience replay mechanism enables agents to effectively leverage their experiences on several occasions. In previous studies, the sampling probability of the transitions was modified based on their relative…
Deep reinforcement learning has made significant progress in robotic manipulation tasks and it works well in the ideal disturbance-free environment. However, in a real-world environment, both internal and external disturbances are…
Although Reinforcement Learning (RL) is effective for sequential decision-making problems under uncertainty, it still fails to thrive in real-world systems where risk or safety is a binding constraint. In this paper, we formulate the RL…
Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…
Recently, sequence learning methods have been applied to the problem of off-policy Reinforcement Learning, including the seminal work on Decision Transformers, which employs transformers for this task. Since transformers are…
We identify two issues with the family of algorithms based on the Adversarial Imitation Learning framework. The first problem is implicit bias present in the reward functions used in these algorithms. While these biases might work well for…
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…
Reinforcement learning (RL) can be formulated as a sequence modeling problem, where models predict future actions based on historical state-action-reward sequences. Current approaches typically require long trajectory sequences to model the…
We introduce D2AC, a new model-free reinforcement learning (RL) algorithm designed to train expressive diffusion policies online effectively. At its core is a policy improvement objective that avoids the high variance of typical policy…
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) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…
Offline reinforcement learning aims to utilize datasets of previously gathered environment-action interaction records to learn a policy without access to the real environment. Recent work has shown that offline reinforcement learning can be…
State-of-the-art deep reinforcement learning (RL) methods have achieved remarkable performance in continuous control tasks, yet their computational complexity is often incompatible with the constraints of resource-limited hardware, due to…
Off-policy learning exhibits greater instability when compared to on-policy learning in reinforcement learning (RL). The difference in probability distribution between the target policy ($\pi$) and the behavior policy (b) is a major cause…
Dealing with sparse rewards is one of the biggest challenges in Reinforcement Learning (RL). We present a novel technique called Hindsight Experience Replay which allows sample-efficient learning from rewards which are sparse and binary and…
Reinforcement learning algorithms can acquire policies for complex tasks autonomously. However, the number of samples required to learn a diverse set of skills can be prohibitively large. While meta-reinforcement learning methods have…