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Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

We study offline multitask representation learning in reinforcement learning (RL), where a learner is provided with an offline dataset from different tasks that share a common representation and is asked to learn the shared representation.…

With the fast improvement of machine learning, reinforcement learning (RL) has been used to automate human tasks in different areas. However, training such agents is difficult and restricted to expert users. Moreover, it is mostly limited…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Self-supervised representation learning~(SSRL) has advanced considerably by exploiting the transformation invariance assumption under artificially designed data augmentations. While augmentation-based SSRL algorithms push the boundaries of…

Representation learning is a key technique in modern machine learning that enables models to identify meaningful patterns in complex data. However, different methods tend to extract distinct aspects of the data, and relying on a single…

Recent research using Reinforcement Learning (RL) to learn autonomous control for spacecraft operations has shown great success. However, a recent study showed their performance could be improved by changing the action space, i.e. control…

Reinforcement learning (RL) is a powerful framework for learning to take actions to solve tasks. However, in many settings, an agent must winnow down the inconceivably large space of all possible tasks to the single task that it is…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

In vision-based reinforcement learning (RL) tasks, it is prevalent to assign auxiliary tasks with a surrogate self-supervised loss so as to obtain more semantic representations and improve sample efficiency. However, abundant information in…

The use of Potential-Based Reward Shaping (PBRS) has shown great promise in the ongoing research effort to tackle sample inefficiency in Reinforcement Learning (RL). However, choosing the right potential function remains an open challenge.…

Standard regression techniques, while powerful, are often constrained by predefined, differentiable loss functions such as mean squared error. These functions may not fully capture the desired behavior of a system, especially when dealing…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

Attention-based sequential recommendation methods have shown promise in accurately capturing users' evolving interests from their past interactions. Recent research has also explored the integration of reinforcement learning (RL) into these…

Mediation analysis learns the causal effect transmitted via mediator variables between treatments and outcomes and receives increasing attention in various scientific domains to elucidate causal relations. Most existing works focus on…

Most image super-resolution (SR) methods are developed on synthetic low-resolution (LR) and high-resolution (HR) image pairs that are constructed by a predetermined operation, e.g., bicubic downsampling. As existing methods typically learn…

A key challenge in scaling up Reinforcement Learning is generalizing learned behaviour. Without the ability to carry forward acquired knowledge an agent is doomed to learn each task from scratch. In this paper we develop a new formalism for…

Reinforcement learning (RL) presents a promising framework to learn policies through environment interaction, but often requires an infeasible amount of interaction data to solve complex tasks from sparse rewards. One direction includes…

Human actions are based on the mental perception of the environment. Even when all the aspects of an environment are not visible, humans have an internal mental model that can generalize the partially visible scenes to fully constructed and…

Learning representations for reinforcement learning (RL) has shown much promise for continuous control. We propose an efficient representation learning method using only a self-supervised latent-state consistency loss. Our approach employs…