相关论文: Modular Multitask Reinforcement Learning with Poli…

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…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

Solving tasks with sparse rewards is a main challenge in reinforcement learning. While hierarchical controllers are an intuitive approach to this problem, current methods often require manual reward shaping, alternating training phases, or…

Natural language and images are commonly used as goal representations in goal-conditioned imitation learning (IL). However, natural language can be ambiguous and images can be over-specified. In this work, we propose hand-drawn sketches as…

Deep imitation learning requires many expert demonstrations, which can be hard to obtain, especially when many tasks are involved. However, different tasks often share similarities, so learning them jointly can greatly benefit them and…

Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

A modular design encourages neural models to disentangle and recombine different facets of knowledge to generalise more systematically to new tasks. In this work, we assume that each task is associated with a subset of latent discrete…

Reinforcement Learning (RL) agents have demonstrated their potential across various robotic tasks. However, they still heavily rely on human-engineered reward functions, requiring extensive trial-and-error and access to target behavior…

Many complex real-world tasks are composed of several levels of sub-tasks. Humans leverage these hierarchical structures to accelerate the learning process and achieve better generalization. In this work, we study the inductive bias and…

Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts,…

A core aspect of human intelligence is the ability to learn new tasks quickly and switch between them flexibly. Here, we describe a modular continual reinforcement learning paradigm inspired by these abilities. We first introduce a visual…

In this paper we show that behavioral cloning can be used to learn effective sketches of programmatic strategies. We show that even the sketches learned by cloning the behavior of weak players can help the synthesis of programmatic…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

Deep reinforcement learning has achieved many impressive results in recent years. However, tasks with sparse rewards or long horizons continue to pose significant challenges. To tackle these important problems, we propose a general…

Rather than learning new control policies for each new task, it is possible, when tasks share some structure, to compose a "meta-policy" from previously learned policies. This paper reports results from experiments using Deep Reinforcement…

Multi-objective Markov decision processes are sequential decision-making problems that involve multiple conflicting reward functions that cannot be optimized simultaneously without a compromise. This type of problems cannot be solved by a…