Related papers: A Motivational Architecture for Open-Ended Learnin…

An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstrations has achieved great…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

A core quality of general intelligence is the ability to open-endedly expand and evolve its set of mastered skills autonomously. While recent Foundation Model (FM) driven approaches have shown promising results towards this goal, they…

In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

The high request for autonomous and flexible HRI implies the necessity of deploying Machine Learning (ML) mechanisms in the robot control. Indeed, the use of ML techniques, such as Reinforcement Learning (RL), makes the robot behaviour,…

Continual learning refers to the ability of a biological or artificial system to seamlessly learn from continuous streams of information while preventing catastrophic forgetting, i.e., a condition in which new incoming information strongly…

The Inverse Reinforcement Learning (\textit{IRL}) problem has seen rapid evolution in the past few years, with important applications in domains like robotics, cognition, and health. In this work, we explore the inefficacy of current IRL…

Hierarchical reinforcement learning (HRL) learns to make decisions on multiple levels of temporal abstraction. A key challenge in HRL is that the low-level policy changes over time, making it difficult for the high-level policy to generate…

Building agents that can explore their environments intelligently is a challenging open problem. In this paper, we make a step towards understanding how a hierarchical design of the agent's policy can affect its exploration capabilities.…

We consider a warehouse in which dozens of mobile robots and human pickers work together to collect and deliver items within the warehouse. The fundamental problem we tackle, called the order-picking problem, is how these worker agents must…

The options framework in Hierarchical Reinforcement Learning breaks down overall goals into a combination of options or simpler tasks and associated policies, allowing for abstraction in the action space. Ideally, these options can be…

In multi-agent reinforcement learning (MARL), the Centralized Training with Decentralized Execution (CTDE) framework is pivotal but struggles due to a gap: global state guidance in training versus reliance on local observations in…

Conventional formation methods typically rely on fixed hierarchical structures, such as predetermined leaders or predefined formation shapes. These rigid hierarchies can render formations cumbersome and inflexible in complex environments,…

Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…

Hierarchy in reinforcement learning agents allows for control at multiple time scales yielding improved sample efficiency, the ability to deal with long time horizons and transferability of sub-policies to tasks outside the training…

Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of…

Deep reinforcement learning algorithms require large and diverse datasets in order to learn successful policies for perception-based mobile navigation. However, gathering such datasets with a single robot can be prohibitively expensive.…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

The necessity for cooperation among intelligent machines has popularised cooperative multi-agent reinforcement learning (MARL) in the artificial intelligence (AI) research community. However, many research endeavors have been focused on…