Related papers: State-free Reinforcement Learning
Safe reinforcement learning is a promising path toward applying reinforcement learning algorithms to real-world problems, where suboptimal behaviors may lead to actual negative consequences. In this work, we focus on the setting where…
Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…
When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…
Offline reinforcement learning (RL) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…
The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…
Reinforcement Learning (RL) based methods have seen their paramount successes in solving serial decision-making and control problems in recent years. For conventional RL formulations, Markov Decision Process (MDP) and state-action-value…
In real-world reinforcement learning (RL) systems, various forms of {\it impaired observability} can complicate matters. These situations arise when an agent is unable to observe the most recent state of the system due to latency or lossy…
We present the first model-free Reinforcement Learning (RL) algorithm to synthesise policies for an unknown Markov Decision Process (MDP), such that a linear time property is satisfied. The given temporal property is converted into a Limit…
This paper considers Safe Policy Improvement (SPI) in Batch Reinforcement Learning (Batch RL): from a fixed dataset and without direct access to the true environment, train a policy that is guaranteed to perform at least as well as the…
Object pushing presents a key non-prehensile manipulation problem that is illustrative of more complex robotic manipulation tasks. While deep reinforcement learning (RL) methods have demonstrated impressive learning capabilities using…
We propose a novel formulation of robotic pick and place as a deep reinforcement learning (RL) problem. Whereas most deep RL approaches to robotic manipulation frame the problem in terms of low level states and actions, we propose a more…
The emergence of reinforcement learning (RL) methods in traffic signal control tasks has achieved better performance than conventional rule-based approaches. Most RL approaches require the observation of the environment for the agent to…
We study the problem of deployment efficient reinforcement learning (RL) with linear function approximation under the \emph{reward-free} exploration setting. This is a well-motivated problem because deploying new policies is costly in…
Although Reinforcement Learning (RL) has shown impressive results in games and simulation, real-world application of RL suffers from its instability under changing environment conditions and hyperparameters. We give a first impression of…
Standard model-free deep reinforcement learning (RL) algorithms sample a new initial state for each trial, allowing them to optimize policies that can perform well even in highly stochastic environments. However, problems that exhibit…
Offline reinforcement learning (Offline RL) suffers from the innate distributional shift as it cannot interact with the physical environment during training. To alleviate such limitation, state-based offline RL leverages a learned dynamics…
Episodic training, where an agent's environment is reset after every success or failure, is the de facto standard when training embodied reinforcement learning (RL) agents. The underlying assumption that the environment can be easily reset…
Linear Temporal Logic (LTL) is widely used to specify high-level objectives for system policies, and it is highly desirable for autonomous systems to learn the optimal policy with respect to such specifications. However, learning the…
Reinforcement learning (RL) is an appealing paradigm for training intelligent agents, enabling policy acquisition from the agent's own autonomously acquired experience. However, the training process of RL is far from automatic, requiring…
Model-free approaches for reinforcement learning (RL) and continuous control find policies based only on past states and rewards, without fitting a model of the system dynamics. They are appealing as they are general purpose and easy to…