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In this paper, we propose a method for training control policies for human-robot interactions such as handshakes or hand claps via Deep Reinforcement Learning. The policy controls a humanoid Shadow Dexterous Hand, attached to a robot arm.…

In standard Reinforcement Learning (RL) settings, the interaction between the agent and the environment is typically modeled as a Markov Decision Process (MDP), which assumes that the agent observes the system state instantaneously, selects…

Analysing learning in Multi-Agent Reinforcement Learning (MARL) environments is challenging, in particular with respect to \textit{individual} decision-making. Practitioners frequently struggle to compare training runs due to the inherent…

Hindsight Experience Replay (HER) is widely regarded as the state-of-the-art algorithm for achieving sample-efficient multi-goal reinforcement learning (RL) in robotic manipulation tasks with binary rewards. HER facilitates learning from…

Simulation to Real-World Transfer allows affordable and fast training of learning-based robots for manipulation tasks using Deep Reinforcement Learning methods. Currently, Sim2Real uses Asymmetric Actor-Critic approaches to reduce the rich…

Human-in-the-loop reinforcement learning integrates human expertise to accelerate agent learning and provide critical guidance and feedback in complex fields. However, many existing approaches focus on single-agent tasks and require…

Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms. In this paper, we introduce InterACT: Inter-dependency aware Action Chunking with Hierarchical Attention…

As the number of spacecraft in orbit continues to increase, it is becoming more challenging for human operators to manage each mission. As a result, autonomous control methods are needed to reduce this burden on operators. One method of…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

The rapid advancement of large vision language models (LVLMs) and agent systems has heightened interest in mobile GUI agents that can reliably translate natural language into interface operations. Existing single-agent approaches, however,…

Learning to collaborate has witnessed significant progress in multi-agent reinforcement learning (MARL). However, promoting coordination among agents and enhancing exploration capabilities remain challenges. In multi-agent environments,…

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

Adversarial inverse reinforcement learning (IRL) for multi-agent task allocation (MATA) is challenged by non-stationary interactions and high-dimensional coordination. Unconstrained reward inference in these settings often leads to high…

Cooperative multi-agent reinforcement learning (MARL) aims to coordinate multiple agents to achieve a common goal. A key challenge in MARL is credit assignment, which involves assessing each agent's contribution to the shared reward. Given…

Reinforcement Learning (RL) offers a powerful paradigm for autonomous robots to master generalist manipulation skills through trial-and-error. However, its real-world application is stifled by low sample efficiency. Recent Human-in-the-Loop…

Multi-agent reinforcement learning (MARL) is a widely used Artificial Intelligence (AI) technique. However, current studies and applications need to address its scalability, non-stationarity, and trustworthiness. This paper aims to review…

In most existing studies on large-scale multi-agent coordination, the control methods aim to learn discrete policies for agents with finite choices. They rarely consider selecting actions directly from continuous action spaces to provide…

The relationship between a reinforcement learning (RL) agent and an asynchronous environment is often ignored. Frequently used models of the interaction between an agent and its environment, such as Markov Decision Processes (MDP) or…

Learning to coordinate is a daunting problem in multi-agent reinforcement learning (MARL). Previous works have explored it from many facets, including cognition between agents, credit assignment, communication, expert demonstration, etc.…

Multiagent reinforcement learning (MARL) has attracted considerable attention due to its potential in addressing complex cooperative tasks. However, existing MARL approaches often rely on frequent exchanges of action or state information…