Related papers: Leveraging Temporally Extended Behavior Sharing fo…
We present a novel multi-agent RL approach, Selective Multi-Agent Prioritized Experience Relay, in which agents share with other agents a limited number of transitions they observe during training. The intuition behind this is that even a…
Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where…
Meta reinforcement learning (Meta-RL) methods such as RL$^2$ have emerged as promising approaches for learning data-efficient RL algorithms tailored to a given task distribution. However, they show poor asymptotic performance and struggle…
Multi-task learning (MTL) is a machine learning technique aiming to improve model performance by leveraging information across many tasks. It has been used extensively on various data modalities, including electronic health record (EHR)…
Multi-task learning (MTL) aims to improve estimation and prediction performance by sharing common information among related tasks. One natural assumption in MTL is that tasks are classified into clusters based on their characteristics.…
This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…
Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks introduced by pre-training with behavioral cloning (BC), which produces narrow action distributions that lack the coverage necessary for…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
Multi-Task Learning (MTL) aims to learn multiple tasks simultaneously while exploiting their mutual relationships. By using shared resources to simultaneously calculate multiple outputs, this learning paradigm has the potential to have…
Despite recent advancements in offline multi-task reinforcement learning (MTRL) have harnessed the powerful capabilities of the Transformer architecture, most approaches focus on a limited number of tasks, with scaling to extremely massive…
Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…
Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…
Deep reinforcement learning (DRL) has been increasingly employed to handle the dynamic and complex resource management in network slicing. The deployment of DRL policies in real networks, however, is complicated by heterogeneous cell…
In this paper, we employ multiple UAVs to accelerate data transmissions from ground users (GUs) to a remote base station (BS) via the UAVs' relay communications. The UAVs' intermittent information exchanges typically result in delays in…
MTL is a learning paradigm that effectively leverages both task-specific and shared information to address multiple related tasks simultaneously. In contrast to STL, MTL offers a suite of benefits that enhance both the training process and…
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…
Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…
Reinforcement learning (RL) with diverse offline datasets can have the advantage of leveraging the relation of multiple tasks and the common skills learned across those tasks, hence allowing us to deal with real-world complex problems…
Multi-task Reinforcement Learning (MTRL) has emerged as a critical training paradigm for applying reinforcement learning (RL) to a set of complex real-world robotic tasks, which demands a generalizable and robust policy. At the same time,…
Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…