Related papers: Free from Bellman Completeness: Trajectory Stitchi…

Safe reinforcement learning (RL) that solves constraint-satisfactory policies provides a promising way to the broader safety-critical applications of RL in real-world problems such as robotics. Among all safe RL approaches, model-based…

We propose and analyze a reinforcement learning principle that approximates the Bellman equations by enforcing their validity only along an user-defined space of test functions. Focusing on applications to model-free offline RL with…

There is increasing interest in data-driven approaches for recommending optimal treatment strategies in many chronic disease management and critical care applications. Reinforcement learning methods are well-suited to this sequential…

Offline Reinforcement Learning (RL) aims to learn a near-optimal policy from a fixed dataset of transitions collected by another policy. This problem has attracted a lot of attention recently, but most existing methods with strong…

Some reinforcement learning (RL) algorithms can stitch pieces of experience to solve a task never seen before during training. This oft-sought property is one of the few ways in which RL methods based on dynamic-programming differ from RL…

Offline reinforcement learning (RL) can in principle synthesize more optimal behavior from a dataset consisting only of suboptimal trials. One way that this can happen is by "stitching" together the best parts of otherwise suboptimal…

A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…

Sequential decision making in the presence of uncertainty and stochastic dynamics gives rise to distributions over state/action trajectories in reinforcement learning (RL) and optimal control problems. This observation has led to a variety…

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Due to the nature of risk management in learning applicable policies, risk-sensitive reinforcement learning (RSRL) has been realized as an important direction. RSRL is usually achieved by learning risk-sensitive objectives characterized by…

Reinforcement learning is able to solve complex sequential decision-making tasks but is currently limited by sample efficiency and required computation. To improve sample efficiency, recent work focuses on model-based RL which interleaves…

Offline learning is a key part of making reinforcement learning (RL) useable in real systems. Offline RL looks at scenarios where there is data from a system's operation, but no direct access to the system when learning a policy. Recent…

Offline reinforcement learning (RL) learns policies entirely from static datasets, thereby avoiding the challenges associated with online data collection. Practical applications of offline RL will inevitably require learning from datasets…

Leader-follower general-sum stochastic games (LF-GSSGs) model sequential decision-making under asymmetric commitment, where a leader commits to a policy and a follower best responds, yielding a strong Stackelberg equilibrium (SSE) with…

Robots will experience non-stationary environment dynamics throughout their lifetime: the robot dynamics can change due to wear and tear, or its surroundings may change over time. Eventually, the robots should perform well in all of the…

When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…

When the environment is partially observable (PO), a deep reinforcement learning (RL) agent must learn a suitable temporal representation of the entire history in addition to a strategy to control. This problem is not novel, and there have…

Effectively leveraging large, previously collected datasets in reinforcement learning (RL) is a key challenge for large-scale real-world applications. Offline RL algorithms promise to learn effective policies from previously-collected,…

Learning policy from offline datasets through offline reinforcement learning (RL) holds promise for scaling data-driven decision-making while avoiding unsafe and costly online interactions. However, real-world data collected from sensors or…