Related papers: Transfer RL across Observation Feature Spaces via …

Specifying a Reinforcement Learning (RL) task involves choosing a suitable planning horizon, which is typically modeled by a discount factor. It is known that applying RL algorithms with a lower discount factor can act as a regularizer,…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…

Bootstrapping is behind much of the successes of deep Reinforcement Learning. However, learning the value function via bootstrapping often leads to unstable training due to fast-changing target values. Target Networks are employed to…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

In this paper, we present a new approach to Transfer Learning (TL) in Reinforcement Learning (RL) for cross-domain tasks. Many of the available techniques approach the transfer architecture as a method of speeding up the target task…

We propose a simple architecture for deep reinforcement learning by embedding inputs into a learned Fourier basis and show that it improves the sample efficiency of both state-based and image-based RL. We perform infinite-width analysis of…

Non-prehensile manipulation, such as pushing objects to a desired target position, is an important skill for robots to assist humans in everyday situations. However, the task is challenging due to the large variety of objects with different…

Controlling artificial agents from visual sensory data is an arduous task. Reinforcement learning (RL) algorithms can succeed but require large amounts of interactions between the agent and the environment. To alleviate the issue,…

Model-based reinforcement learning (RL) algorithms designed for handling complex visual observations typically learn some sort of latent state representation, either explicitly or implicitly. Standard methods of this sort do not distinguish…

Reinforcement learning (RL) methods learn optimal decisions in the presence of a stationary environment. However, the stationary assumption on the environment is very restrictive. In many real world problems like traffic signal control,…

We focus on an unloading problem, typical of the logistics sector, modeled as a sequential pick-and-place task. In this type of task, modern machine learning techniques have shown to work better than classic systems since they are more…

Single-task RL agents are typically trained under a fixed reward function, which limits their robustness to reward misspecification and their ability to adapt to changing preferences. We introduce Reward-Conditioned Reinforcement Learning…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…

Agents trained via deep reinforcement learning (RL) routinely fail to generalize to unseen environments, even when these share the same underlying dynamics as the training levels. Understanding the generalization properties of RL is one of…

In principle, meta-reinforcement learning algorithms leverage experience across many tasks to learn fast reinforcement learning (RL) strategies that transfer to similar tasks. However, current meta-RL approaches rely on manually-defined…

Traditionally, reinforcement learning (RL) agents learn to solve new tasks by updating their neural network parameters through interactions with the task environment. However, recent works demonstrate that some RL agents, after certain…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

Deep reinforcement learning (RL) agents often fail to generalize to unseen environments (yet semantically similar to trained agents), particularly when they are trained on high-dimensional state spaces, such as images. In this paper, we…

Recent advances at the intersection of reinforcement learning (RL) and visual intelligence have enabled agents that not only perceive complex visual scenes but also reason, generate, and act within them. This survey offers a critical and…