Related papers: WIMLE: Uncertainty-Aware World Models with IMLE fo…
Recent advances in reinforcement learning (RL) have enabled impressive humanoid behaviors in simulation, yet transferring these results to new robots remains challenging. In many real deployments, the primary bottleneck is no longer…
One of the ways to make artificial intelligence more natural is to give it some room for doubt. Two main questions should be resolved in that way. First, how to train a model to estimate uncertainties of its own predictions? And then, what…
Deep reinforcement learning has over the past few years shown great potential in learning near-optimal control in complex simulated environments with little visible information. Rainbow (Q-Learning) and PPO (Policy Optimisation) have shown…
Learning cooperative multi-agent policies directly from high-dimensional, multimodal sensory inputs like pixels and audio (from pixels) is notoriously sample-inefficient. Model-free Multi-Agent Reinforcement Learning (MARL) algorithms…
The need for effective unlearning mechanisms in large language models (LLMs) is increasingly urgent, driven by the necessity to adhere to data regulations and foster ethical generative AI practices. Despite growing interest of LLM…
Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…
In reinforcement learning (RL), an autonomous agent learns to perform complex tasks by maximizing an exogenous reward signal while interacting with its environment. In real-world applications, test conditions may differ substantially from…
We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…
Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…
In-Hand Manipulation, as many other dexterous tasks, remains a difficult challenge in robotics by combining complex dynamic systems with the capability to control and manoeuvre various objects using its actuators. This work presents the…
Pretraining reinforcement learning (RL) models on offline datasets is a promising way to improve their training efficiency in online tasks, but challenging due to the inherent mismatch in dynamics and behaviors across various tasks. We…
Deep learning models, including Convolutional Neural Networks (CNNs) and Vision Transformers (ViTs), have achieved state-of-the-art performance on various computer vision tasks such as object classification, detection, segmentation,…
In this work, we introduce the Time-Aware World Model (TAWM), a model-based approach that explicitly incorporates temporal dynamics. By conditioning on the time-step size, {\Delta}t, and training over a diverse range of {\Delta}t values --…
Model agnostic meta-learning (MAML) is a popular state-of-the-art meta-learning algorithm that provides good weight initialization of a model given a variety of learning tasks. The model initialized by provided weight can be fine-tuned to…
Multi-task Inverse Reinforcement Learning (IRL) is the problem of inferring multiple reward functions from expert demonstrations. Prior work, built on Bayesian IRL, is unable to scale to complex environments due to computational…
Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to occlusions, limited viewpoints, or unexpected environmental…
The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…
In recent years, model-based reinforcement learning (MBRL) has emerged as a solution to address sample complexity in multi-agent reinforcement learning (MARL) by modeling agent-environment dynamics to improve sample efficiency. However,…
Model-based reinforcement learning (RL) is more sample efficient than model-free RL by using imaginary trajectories generated by the learned dynamics model. When the model is inaccurate or biased, imaginary trajectories may be deleterious…
Model-based reinforcement learning (MBRL) is believed to have much higher sample efficiency compared to model-free algorithms by learning a predictive model of the environment. However, the performance of MBRL highly relies on the quality…