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We present Residual Policy Learning (RPL): a simple method for improving nondifferentiable policies using model-free deep reinforcement learning. RPL thrives in complex robotic manipulation tasks where good but imperfect controllers are…
Deep reinforcement learning (RL) algorithms are predominantly evaluated by comparing their relative performance on a large suite of tasks. Most published results on deep RL benchmarks compare point estimates of aggregate performance such as…
Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This…
Reinforcement learning (RL) has proven its worth in a series of artificial domains, and is beginning to show some successes in real-world scenarios. However, much of the research advances in RL are hard to leverage in real-world systems due…
Reinforcement learning (RL) systems have countless applications, from energy-grid management to protein design. However, such real-world scenarios are often extremely difficult, combinatorial in nature, and require complex coordination…
Reinforcement learning (RL) has become the pivotal post-training technique for large language model (LLM). Effectively scaling reinforcement learning is now the key to unlocking advanced reasoning capabilities and ensuring safe,…
Multi-task Reinforcement Learning (MTRL) has emerged as a critical training paradigm for applying reinforcement learning (RL) to a set of complex real-world robotic tasks, which demands a generalizable and robust policy. At the same time,…
In this paper, we propose ELF, an Extensive, Lightweight and Flexible platform for fundamental reinforcement learning research. Using ELF, we implement a highly customizable real-time strategy (RTS) engine with three game environments…
Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibitively large number of training samples for learning complex tasks. Many recent works on speeding up Deep RL have focused on distributed training and simulation. While…
The rapid evolution of Embodied AI has enabled Vision-Language-Action (VLA) models to excel in multimodal perception and task execution. However, applying Reinforcement Learning (RL) to these massive models in large-scale distributed…
Deep Reinforcement Learning (or just "RL") is gaining popularity for industrial and research applications. However, it still suffers from some key limits slowing down its widespread adoption. Its performance is sensitive to initial…
Deep reinforcement learning (RL) is computationally demanding and requires processing of many data points. Synchronous methods enjoy training stability while having lower data throughput. In contrast, asynchronous methods achieve high…
This paper addresses policy learning in non-stationary environments and games with continuous actions. Rather than the classical reward maximization mechanism, inspired by the ideas of follow-the-regularized-leader (FTRL) and mirror descent…
Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…
Benchmarks play a crucial role in the development and analysis of reinforcement learning (RL) algorithms. We identify that existing benchmarks used for research into open-ended learning fall into one of two categories. Either they are too…
The development of deep reinforcement learning (DRL) has benefited from the emergency of a variety type of game environments where new challenging problems are proposed and new algorithms can be tested safely and quickly, such as Board…
Hyperparameter optimization (HPO) is a billion-dollar problem in machine learning, which significantly impacts the training efficiency and model performance. However, achieving efficient and robust HPO in deep reinforcement learning (RL) is…
This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of existing underwater simulation environments in terms of RL…
Continual Reinforcement Learning (CRL) is a challenging setting where an agent learns to interact with an environment that is constantly changing over time (the stream of experiences). In this paper, we describe Avalanche RL, a library for…
In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real world, and incorporate auxiliary data, such as…