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Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it…
The Reinforcement Learning field is strong on achievements and weak on reapplication; a computer playing GO at a super-human level is still terrible at Tic-Tac-Toe. This paper asks whether the method of training networks improves their…
Quality-Diversity optimisation algorithms enable the evolution of collections of both high-performing and diverse solutions. These collections offer the possibility to quickly adapt and switch from one solution to another in case it is not…
Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…
With the development of fast and massively parallel evaluations in many domains, Quality-Diversity (QD) algorithms, that already proved promising in a large range of applications, have seen their potential multiplied. However, we have yet…
Mixed-precision quantization mostly predetermines the model bit-width settings before actual training due to the non-differential bit-width sampling process, obtaining sub-optimal performance. Worse still, the conventional static…
Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended…
We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…
One of the most important lessons from the success of deep learning is that learned representations tend to perform much better at any task compared to representations we design by hand. Yet evolution of evolvability algorithms, which aim…
Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…
Evolution Strategies (ES) are effective gradient-free optimization methods that can be competitive with gradient-based approaches for policy search. ES only rely on the total episodic scores of solutions in their population, from which they…
Automatic feature learning algorithms are at the forefront of modern day machine learning research. We present a novel algorithm, supervised Q-walk, which applies Q-learning to generate random walks on graphs such that the walks prove to be…
Reinforcement learning (RL) algorithms have become indispensable tools in artificial intelligence, empowering agents to acquire optimal decision-making policies through interactions with their environment and feedback mechanisms. This study…
As autonomous robots move into complex, dynamic real-world environments, they must learn to navigate safely in real time, yet anticipating all possible behaviors is infeasible. We propose a composable, model-free reinforcement learning…
Learning adaptable policies is crucial for robots to operate autonomously in our complex and quickly changing world. In this work, we present a new meta-learning method that allows robots to quickly adapt to changes in dynamics. In contrast…
Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In this paper, we address this limitation by using reinforcement…
Ensuring safety of large language models (LLMs) is important. Red teaming--a systematic approach to identifying adversarial prompts that elicit harmful responses from target LLMs--has emerged as a crucial safety evaluation method. Within…
Quality diversity (QD) is a branch of evolutionary computation that seeks high-quality and behaviorally diverse solutions to a problem. While adversarial problems are common, classical QD cannot be easily applied to them, as both the…
Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…
Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…