Related papers: Hereditary Geometric Meta-RL: Nonlocal Generalizat…

A machine learning (ML) system must learn not only to match the output of a target function on a training set, but also to generalize to novel situations in order to yield accurate predictions at deployment. In most practical applications,…

Standard LLM evaluation practices compress diverse abilities into single scores, obscuring their inherently multidimensional nature. We present JE-IRT, a geometric item-response framework that embeds both LLMs and questions in a shared…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…

Typically, loss functions, regularization mechanisms and other important aspects of training parametric models are chosen heuristically from a limited set of options. In this paper, we take the first step towards automating this process,…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Gradient-based meta-learning methods leverage gradient descent to learn the commonalities among various tasks. While previous such methods have been successful in meta-learning tasks, they resort to simple gradient descent during…

Deep Reinforcement Learning (RL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. To alleviate this issue, we propose to exploit the symmetries…

Generalization in reinforcement learning (RL) is of importance for real deployment of RL algorithms. Various schemes are proposed to address the generalization issues, including transfer learning, multi-task learning and meta learning, as…

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…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Meta-learning has arisen as a successful method for improving training performance by training over many similar tasks, especially with deep neural networks (DNNs). However, the theoretical understanding of when and why overparameterized…

Meta-learning is widely used in few-shot classification and function regression due to its ability to quickly adapt to unseen tasks. However, it has not yet been well explored on regression tasks with high dimensional inputs such as images.…

Hierarchical reinforcement learning (HRL) is hypothesized to be able to leverage the inherent hierarchy in learning tasks where traditional reinforcement learning (RL) often fails. In this research, HRL is evaluated and contrasted with…

Symmetry is pervasive in robotics and has been widely exploited to improve sample efficiency in deep reinforcement learning (DRL). However, existing approaches primarily focus on spatial symmetries, such as reflection, rotation, and…

Language models trained on diverse datasets unlock generalization by in-context learning. Reinforcement Learning (RL) policies can achieve a similar effect by meta-learning within the memory of a sequence model. However, meta-RL research…

In order to efficiently learn with small amount of data on new tasks, meta-learning transfers knowledge learned from previous tasks to the new ones. However, a critical challenge in meta-learning is the task heterogeneity which cannot be…

Meta-learning is a branch of machine learning which trains neural network models to synthesize a wide variety of data in order to rapidly solve new problems. In process control, many systems have similar and well-understood dynamics, which…

In this paper, we propose a learning algorithm that enables a model to quickly exploit commonalities among related tasks from an unseen task distribution, before quickly adapting to specific tasks from that same distribution. We investigate…

Bayesian Reinforcement Learning (BRL), a subclass of Meta-Reinforcement Learning (Meta-RL), provides a principled framework for generalisation by explicitly incorporating Bayesian task parameters into transition and reward models. However,…

Meta reinforcement learning (RL) allows agents to leverage experience across a distribution of tasks on which the agent can train at will, enabling faster learning of optimal policies on new test tasks. Despite its success in improving…