相关论文: Modular Multitask Reinforcement Learning with Poli…

In planning and reinforcement learning, the identification of common subgoal structures across problems is important when goals are to be achieved over long horizons. Recently, it has been shown that such structures can be expressed as…

Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains…

We present an automated learning framework for a robotic sketching agent that is capable of learning stroke-based rendering and motor control simultaneously. We formulate the robotic sketching problem as a deep decoupled hierarchical…

In Reinforcement Learning (abbreviated as RL), an agent interacts with the environment via a set of possible actions, and a reward is generated from some unknown distribution. The task here is to find an optimal set of actions such that the…

Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of required…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

While the recent advances in deep reinforcement learning have achieved impressive results in learning motor skills, many of the trained policies are only capable within a limited set of initial states. We propose a technique to break down a…

In reinforcement learning (RL), agents continually interact with the environment and use the feedback to refine their behavior. To guide policy optimization, reward models are introduced as proxies of the desired objectives, such that when…

Conventional reinforcement learning (RL) methods can successfully solve a wide range of sequential decision problems. However, learning policies that can generalize predictably across multiple tasks in a setting with non-Markovian reward…

Improving sample efficiency is central to Reinforcement Learning (RL), especially in environments where the rewards are sparse. Some recent approaches have proposed to specify reward functions as manually designed or learned reward…

Multi-task representation learning (MTRL) is an approach that learns shared latent representations across related tasks, facilitating collaborative learning that improves the overall learning efficiency. This paper studies MTRL for…

We present a framework for data-driven robotics that makes use of a large dataset of recorded robot experience and scales to several tasks using learned reward functions. We show how to apply this framework to accomplish three different…

Multi-task reinforcement learning endeavors to accomplish a set of different tasks with a single policy. To enhance data efficiency by sharing parameters across multiple tasks, a common practice segments the network into distinct modules…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Creating reinforcement learning (RL) agents that are capable of accepting and leveraging task-specific knowledge from humans has been long identified as a possible strategy for developing scalable approaches for solving long-horizon…

Despite significant progress, deep reinforcement learning (RL) suffers from data-inefficiency and limited generalization. Recent efforts apply meta-learning to learn a meta-learner from a set of RL tasks such that a novel but related task…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

Learning effective policies for sparse objectives is a key challenge in Deep Reinforcement Learning (RL). A common approach is to design task-related dense rewards to improve task learnability. While such rewards are easily interpreted,…

Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…