Related papers: FRAC-Q-Learning: A Reinforcement Learning with Bor…

When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…

The breakthrough of deep Q-Learning on different types of environments revolutionized the algorithmic design of Reinforcement Learning to introduce more stable and robust algorithms, to that end many extensions to deep Q-Learning algorithm…

Reinforcement learning algorithms have been widely used for decision-making tasks in various domains. However, the performance of these algorithms can be impacted by high variance and instability, particularly in environments with noise or…

Robust reinforcement learning (RL) is to find a policy that optimizes the worst-case performance over an uncertainty set of MDPs. In this paper, we focus on model-free robust RL, where the uncertainty set is defined to be centering at a…

Q-learning is known as one of the fundamental reinforcement learning (RL) algorithms. Its convergence has been the focus of extensive research over the past several decades. Recently, a new finitetime error bound and analysis for Q-learning…

This paper studies the robustness of reinforcement learning algorithms to errors in the learning process. Specifically, we revisit the benchmark problem of discrete-time linear quadratic regulation (LQR) and study the long-standing open…

When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online based on such human input, but they rely on handcrafted…

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…

Q-learning is a stochastic approximation version of the classic value iteration. The literature has established that Q-learning suffers from both maximization bias and slower convergence. Recently, multi-step algorithms have shown practical…

In this paper, the robot-assisted Reminiscence Therapy (RT) is studied as a psychosocial intervention to persons with dementia (PwDs). We aim at a conversation strategy for the robot by reinforcement learning to stimulate the PwD to talk.…

Reward machines are an established tool for dealing with reinforcement learning problems in which rewards are sparse and depend on complex sequences of actions. However, existing algorithms for learning reward machines assume an overly…

Guided exploration with expert demonstrations improves data efficiency for reinforcement learning, but current algorithms often overuse expert information. We propose a novel algorithm to speed up Q-learning with the help of a limited…

In Reinforcement Learning the Q-learning algorithm provably converges to the optimal solution. However, as others have demonstrated, Q-learning can also overestimate the values and thereby spend too long exploring unhelpful states. Double…

The $Q$-learning algorithm is a simple and widely-used stochastic approximation scheme for reinforcement learning, but the basic protocol can exhibit instability in conjunction with function approximation. Such instability can be observed…

One of the biggest hurdles robotics faces is the facet of sophisticated and hard-to-engineer behaviors. Reinforcement learning offers a set of tools, and a framework to address this problem. In parallel, the misgivings of robotics offer a…

Soft Q-learning is a variation of Q-learning designed to solve entropy regularized Markov decision problems where an agent aims to maximize the entropy regularized value function. Despite its empirical success, there have been limited…

Learning from Demonstrations (LfD) allows robots to learn skills from human users, but its effectiveness can suffer due to sub-optimal teaching, especially from untrained demonstrators. Active LfD aims to improve this by letting robots…

While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely difficult due their inability to capture human intent and…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

Reinforcement learning is one of the most popular approaches for automated game playing. This method allows an agent to estimate the expected utility of its state in order to make optimal actions in an unknown environment. We seek to apply…