相关论文: Modular Multitask Reinforcement Learning with Poli…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Reinforcement Learning (RL) can effectively learn complex policies. However, learning these policies often demands extensive trial-and-error interactions with the environment. In many real-world scenarios, this approach is not practical due…

Neural network based models have achieved impressive results on various specific tasks. However, in previous works, most models are learned separately based on single-task supervised objectives, which often suffer from insufficient training…

Most existing policy learning solutions require the learning agents to receive high-quality supervision signals such as well-designed rewards in reinforcement learning (RL) or high-quality expert demonstrations in behavioral cloning (BC).…

Meta-reinforcement learning (meta-RL) acquires meta-policies that show good performance for tasks in a wide task distribution. However, conventional meta-RL, which learns meta-policies by randomly sampling tasks, has been reported to show…

We tackle the Multi-task Batch Reinforcement Learning problem. Given multiple datasets collected from different tasks, we train a multi-task policy to perform well in unseen tasks sampled from the same distribution. The task identities of…

Training a team to complete a complex task via multi-agent reinforcement learning can be difficult due to challenges such as policy search in a large joint policy space, and non-stationarity caused by mutually adapting agents. To facilitate…

The benefit of multi-task learning over single-task learning relies on the ability to use relations across tasks to improve performance on any single task. While sharing representations is an important mechanism to share information across…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…

Most deep reinforcement learning algorithms are data inefficient in complex and rich environments, limiting their applicability to many scenarios. One direction for improving data efficiency is multitask learning with shared neural network…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

Symbolic planning models allow decision-making agents to sequence actions in arbitrary ways to achieve a variety of goals in dynamic domains. However, they are typically handcrafted and tend to require precise formulations that are not…

Reinforcement learning (RL) with sparse and deceptive rewards is challenging because non-zero rewards are rarely obtained. Hence, the gradient calculated by the agent can be stochastic and without valid information. Recent studies that…

Meta reinforcement learning (Meta-RL) is an approach wherein the experience gained from solving a variety of tasks is distilled into a meta-policy. The meta-policy, when adapted over only a small (or just a single) number of steps, is able…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

Recently, there has been an increasing interest in automated prompt optimization based on reinforcement learning (RL). This approach offers important advantages, such as generating interpretable prompts and being compatible with black-box…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Designing effective auxiliary rewards for cooperative multi-agent systems remains challenging, as misaligned incentives can induce suboptimal coordination, particularly when sparse task rewards provide insufficient grounding for coordinated…