相关论文: Modular Multitask Reinforcement Learning with Poli…

Decomposing complex tasks into a sequence of simpler subtasks can improve learning efficiency for an autonomous agent. Reinforcement learning (RL) can be used to optimize agent policies to complete subtasks, but requires well-defined…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Multi-goal reinforcement learning (RL) aims to qualify the agent to accomplish multi-goal tasks, which is of great importance in learning scalable robotic manipulation skills. However, reward engineering always requires strenuous efforts in…

A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…

We are interested in learning models of non-stationary environments, which can be framed as a multi-task learning problem. Model-free reinforcement learning algorithms can achieve good asymptotic performance in multi-task learning at a cost…

Batch reinforcement learning enables policy learning without direct interaction with the environment during training, relying exclusively on previously collected sets of interactions. This approach is, therefore, well-suited for high-risk…

Temporal point process is an expressive tool for modeling event sequences over time. In this paper, we take a reinforcement learning view whereby the observed sequences are assumed to be generated from a mixture of latent policies. The…

Social goods, such as healthcare, smart city, and information networks, often produce ordered event data in continuous time. The generative processes of these event data can be very complex, requiring flexible models to capture their…

In recent years, multi-task learning has turned out to be of great success in various applications. Though single model training has promised great results throughout these years, it ignores valuable information that might help us estimate…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

By reusing data throughout training, off-policy deep reinforcement learning algorithms offer improved sample efficiency relative to on-policy approaches. For continuous action spaces, the most popular methods for off-policy learning include…

Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

We present a framework for learning useful subgoals that support efficient long-term planning to achieve novel goals. At the core of our framework is a collection of rational subgoals (RSGs), which are essentially binary classifiers over…

The subject of this paper is reinforcement learning. Policies are considered here that produce actions based on states and random elements autocorrelated in subsequent time instants. Consequently, an agent learns from experiments that are…

In many sequential decision making tasks, it is challenging to design reward functions that help an RL agent efficiently learn behavior that is considered good by the agent designer. A number of different formulations of the reward-design…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…