Related papers: Task-Aware Virtual Training: Enhancing Generalizat…

In many reinforcement learning tasks, the agent has to learn to interact with many objects of different types and generalize to unseen combinations and numbers of objects. Often a task is a composition of previously learned tasks (e.g.…

Consistency is the theoretical property of a meta learning algorithm that ensures that, under certain assumptions, it can adapt to any task at test time. An open question is whether and how theoretical consistency translates into practice,…

Large language models (LLMs) demonstrate strong task-specific capabilities through fine-tuning, but merging multiple fine-tuned models often leads to degraded performance due to overlapping instruction-following components. Task Arithmetic…

Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistently fail on input data outside it, leading…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

Overfitting is a significant challenge in Few-Shot Learning (FSL), where models trained on small, variable datasets tend to memorize rather than generalize to unseen tasks. Regularization is crucial in FSL to prevent overfitting and enhance…

We study the offline meta-reinforcement learning (OMRL) problem, a paradigm which enables reinforcement learning (RL) algorithms to quickly adapt to unseen tasks without any interactions with the environments, making RL truly practical in…

Reinforcement learning (RL) is a sub-domain of machine learning, mainly concerned with solving sequential decision-making problems by a learning agent that interacts with the decision environment to improve its behavior through the reward…

Multi-task reinforcement learning (MTRL) aims to train a single agent to efficiently optimize performance across multiple tasks simultaneously. However, jointly optimizing all tasks often yields imbalanced learning: agents quickly solve…

Learning robust vision models that perform well in out-of-distribution (OOD) situations is an important task for model deployment in real-world settings. Despite extensive research in this field, many proposed methods have only shown minor…

Multi-task learning (MTL) enables simultaneous training across related tasks, leveraging shared information to improve generalization, efficiency, and robustness, especially in data-scarce or high-dimensional scenarios. While deep learning…

Offline meta-reinforcement learning (meta-RL) methods, which adapt to unseen target tasks with prior experience, are essential in robot control tasks. Current methods typically utilize task contexts and skills as prior experience, where…

Online meta-learning has recently emerged as a marriage between batch meta-learning and online learning, for achieving the capability of quick adaptation on new tasks in a lifelong manner. However, most existing approaches focus on the…

Meta-Reinforcement Learning (Meta-RL) commonly generalizes via smoothness in the task encoding. While this enables local generalization around each training task, it requires dense coverage of the task space and leaves richer task space…

We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective demonstrations.…

Multimodal meta-learning is a recent problem that extends conventional few-shot meta-learning by generalizing its setup to diverse multimodal task distributions. This setup makes a step towards mimicking how humans make use of a diverse set…

We tackle the Multi-task Batch Reinforcement Learning problem. Given multiple datasets collected from different tasks, we train a multi-task policy to perform well in unseen tasks sampled from the same distribution. The task identities of…

Large Language Model (LLM)-based multi-agent systems show promise for automating real-world tasks but struggle to transfer across domains due to their domain-specific nature. Current approaches face two critical shortcomings: they require…

Meta-learning stands for 'learning to learn' such that generalization to new tasks is achieved. Among these methods, Gradient-based meta-learning algorithms are a specific sub-class that excel at quick adaptation to new tasks with limited…

Reinforcement Learning (RL) agents have demonstrated their potential across various robotic tasks. However, they still heavily rely on human-engineered reward functions, requiring extensive trial-and-error and access to target behavior…