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Our goal is to train control policies that generalize well to unseen environments. Inspired by the Distributionally Robust Optimization (DRO) framework, we propose DRAGEN - Distributionally Robust policy learning via Adversarial Generation…
Despite recent progress in offline learning, these methods are still trained and tested on the same environment. In this paper, we compare the generalization abilities of widely used online and offline learning methods such as online…
Goal-Conditioned Reinforcement Learning (GCRL) provides a versatile framework for developing unified controllers capable of handling wide ranges of tasks, exploring environments, and adapting behaviors. However, its reliance on…
Goal-conditioned reinforcement learning (GCRL), related to a set of complex RL problems, trains an agent to achieve different goals under particular scenarios. Compared to the standard RL solutions that learn a policy solely depending on…
Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…
Offline reinforcement learning (RL) offers a promising framework for training agents using pre-collected datasets without the need for further environment interaction. However, policies trained on offline data often struggle to generalise…
Graph-based environments pose unique challenges to multi-agent reinforcement learning. In decentralized approaches, agents operate within a given graph and make decisions based on partial or outdated observations. The size of the observed…
We study whether self-learning can scale LLM-based agents without relying on human-curated datasets or predefined rule-based rewards. Through controlled experiments in a search-agent setting, we identify two key determinants of scalable…
We address the problem of fine-tuning pre-trained generative policies with reinforcement learning (RL) while preserving the multimodality of their action distributions. Existing methods for RL fine-tuning of generative policies (e.g.,…
Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however,…
In recent years, by leveraging more data, computation, and diverse tasks, learned optimizers have achieved remarkable success in supervised learning, outperforming classical hand-designed optimizers. Reinforcement learning (RL) is…
Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…
Goal-conditioned policies are used in order to break down complex reinforcement learning (RL) problems by using subgoals, which can be defined either in state space or in a latent feature space. This can increase the efficiency of learning…
Developing robotic agents that can perform well in diverse environments while showing a variety of behaviors is a key challenge in AI and robotics. Traditional reinforcement learning (RL) methods often create agents that specialize in…
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…
Non-stationarity can arise in Reinforcement Learning (RL) even in stationary environments. For example, most RL algorithms collect new data throughout training, using a non-stationary behaviour policy. Due to the transience of this…
A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…
Unlike reinforcement learning (RL) agents, humans remain capable multitaskers in changing environments. In spite of only experiencing the world through their own observations and interactions, people know how to balance focusing on tasks…
Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is…
Typical reinforcement learning (RL) agents learn to complete tasks specified by reward functions tailored to their domain. As such, the policies they learn do not generalize even to similar domains. To address this issue, we develop a…