Related papers: ASPiRe:Adaptive Skill Priors for Reinforcement Lea…

Adaptive intelligence aims at empowering machine learning techniques with the extensive use of domain knowledge. In this work, we present the application of adaptive intelligence to accelerate MR acquisition. Starting from undersampled…

Reinforcement learning (RL) has demonstrated impressive performance in decision-making tasks like embodied control, autonomous driving and financial trading. In many decision-making tasks, the agents often encounter the problem of executing…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

A unified linear algebraic approach to adaptive signal processing (ASP) is presented. Starting from just Ax=b, key ASP algorithms are derived in a simple, systematic, and integrated manner without requiring any background knowledge to the…

Deep reinforcement learning has achieved great success in various fields with its super decision-making ability. However, the policy learning process requires a large amount of training time, causing energy consumption. Inspired by the…

Large language models (LLMs) excel at mathematical reasoning and logical problem-solving. The current popular training paradigms primarily use supervised fine-tuning (SFT) and reinforcement learning (RL) to enhance the models' reasoning…

How can a reinforcement learning (RL) agent prepare to solve downstream tasks if those tasks are not known a priori? One approach is unsupervised skill discovery, a class of algorithms that learn a set of policies without access to a reward…

Humans often think of complex tasks as combinations of simpler subtasks in order to learn those complex tasks more efficiently. For example, a backflip could be considered a combination of four subskills: jumping, tucking knees, rolling…

Reinforcement Learning (RL) bears the promise of being a game-changer in many applications. However, since most of the literature in the field is currently focused on opaque models, the use of RL in high-stakes scenarios, where…

Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Agentic large language models often rely on skills, reusable natural language procedures that guide planning, action, and tool use. In practice, skills are typically improved through prompt engineering or by aligning the task LLM itself,…

Offline reinforcement learning (RL) defines a sample-efficient learning paradigm, where a policy is learned from static and previously collected datasets without additional interaction with the environment. The major obstacle to offline RL…

Soft real-time applications are becoming increasingly complex, posing significant challenges for scheduling offloaded tasks in edge computing environments while meeting task timing constraints. Moreover, the exponential growth of the search…

A persistent skill library allows language model agents to reuse successful strategies across tasks. Maintaining such a library requires three coupled capabilities. The agent selects a relevant skill, utilizes it during execution, and…

Reinforcement learning (RL) has emerged as a promising strategy for finetuning small language models (SLMs) to solve targeted tasks such as math and coding. However, RL algorithms tend to be resource-intensive, taking a significant amount…

The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…

Deep neural networks coupled with fast simulation and improved computation have led to recent successes in the field of reinforcement learning (RL). However, most current RL-based approaches fail to generalize since: (a) the gap between…

Offline Reinforcement Learning (RL) aims to extract near-optimal policies from imperfect offline data without additional environment interactions. Extracting policies from diverse offline datasets has the potential to expand the range of…

Despite growing interest in developing legged robots that emulate biological locomotion for agile navigation of complex environments, acquiring a diverse repertoire of skills remains a fundamental challenge in robotics. Existing methods can…