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Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…
Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…
Recent progress in deep reinforcement learning (DRL) can be largely attributed to the use of neural networks. However, this black-box approach fails to explain the learned policy in a human understandable way. To address this challenge and…
Risk-sensitive reinforcement learning (RL) is crucial for maintaining reliable performance in high-stakes applications. While traditional RL methods aim to learn a point estimate of the random cumulative cost, distributional RL (DRL) seeks…
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…
Reinforcement learning (RL) algorithms have demonstrated promising results on complex tasks, yet often require impractical numbers of samples since they learn from scratch. Meta-RL aims to address this challenge by leveraging experience…
Path-based relational reasoning over knowledge graphs has become increasingly popular due to a variety of downstream applications such as question answering in dialogue systems, fact prediction, and recommender systems. In recent years,…
We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…
We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…
Retrieval-Augmented Generation (RAG) integrates non-parametric knowledge into Large Language Models (LLMs), typically from unstructured texts and structured graphs. While recent progress has advanced text-based RAG to multi-turn reasoning…
Preference-based reinforcement learning (PBRL) in the offline setting has succeeded greatly in industrial applications such as chatbots. A two-step learning framework where one applies a reinforcement learning step after a reward modeling…
We study the problem of off-policy value evaluation in reinforcement learning (RL), where one aims to estimate the value of a new policy based on data collected by a different policy. This problem is often a critical step when applying RL…
Reinforcement Learning (RL) algorithms often struggle with low training efficiency. A common approach to address this challenge is integrating model-based planning algorithms, such as Monte Carlo Tree Search (MCTS) or Value Iteration (VI),…
This paper studies Reinforcement Learning (RL) techniques to enable team coordination behaviors in graph environments with support actions among teammates to reduce the costs of traversing certain risky edges in a centralized manner. While…
Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…
Recently deep reinforcement learning has achieved tremendous success in wide ranges of applications. However, it notoriously lacks data-efficiency and interpretability. Data-efficiency is important as interacting with the environment is…
Deep Reinforcement Learning (RL) has shown remarkable success in robotics with complex and heterogeneous dynamics. However, its vulnerability to unknown disturbances and adversarial attacks remains a significant challenge. In this paper, we…
Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…
Reinforcement learning (RL) agents are vulnerable to adversarial disturbances, which can deteriorate task performance or compromise safety specifications. Existing methods either address safety requirements under the assumption of no…
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…