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This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…
A main focus of machine learning research has been improving the generalization accuracy and efficiency of prediction models. Many models such as SVM, random forest, and deep neural nets have been proposed and achieved great success.…
Integrating model-free and model-based approaches in reinforcement learning has the potential to achieve the high performance of model-free algorithms with low sample complexity. However, this is difficult because an imperfect dynamics…
In deep metric learning, the training procedure relies on sampling informative tuples. However, as the training procedure progresses, it becomes nearly impossible to sample relevant hard negative examples without proper mining strategies or…
Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…
Model-based reinforcement learning (MBRL) is sample-efficient but struggles in sparse reward settings. A critical bottleneck arises from the lack of informative gradients in sparse settings, where standard reward models often yield flat…
Deep reinforcement learning has shown remarkable success in the past few years. Highly complex sequential decision making problems have been solved in tasks such as game playing and robotics. Unfortunately, the sample complexity of most…
Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…
Learning models of the environment from pure interaction is often considered an essential component of building lifelong reinforcement learning agents. However, the common practice in model-based reinforcement learning is to learn models…
Reinforcement learning improves the reasoning ability of large language models but remains costly and sample-inefficient, as many rollouts provide weak learning signals. Difficulty-aware data selection methods attempt to address this by…
Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…
In recent years, predicting driver's focus of attention has been a very active area of research in the autonomous driving community. Unfortunately, existing state-of-the-art techniques achieve this by relying only on human gaze information,…
Symbolic regression plays a crucial role in modern scientific research thanks to its capability of discovering concise and interpretable mathematical expressions from data. A key challenge lies in the search for parsimonious and…
Dealing with environments with sparse rewards has always been crucial for systems developed to operate in autonomous open-ended learning settings. Intrinsic Motivations could be an effective way to help Deep Reinforcement Learning…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
The success of automated driving deployment is highly depending on the ability to develop an efficient and safe driving policy. The problem is well formulated under the framework of optimal control as a cost optimization problem. Model…
To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can…
Reinforcement learning allows solving complex tasks, however, the learning tends to be task-specific and the sample efficiency remains a challenge. We present Plan2Explore, a self-supervised reinforcement learning agent that tackles both…
The most data-efficient algorithms for reinforcement learning in robotics are model-based policy search algorithms, which alternate between learning a dynamical model of the robot and optimizing a policy to maximize the expected return…
Sample efficiency has been one of the major challenges for deep reinforcement learning. Recently, model-based reinforcement learning has been proposed to address this challenge by performing planning on imaginary trajectories with a learned…