相关论文: RLOC: Neurobiologically Inspired Hierarchical Rein…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

Reinforcement learning is an emerging approach to control dynamical systems for which classical approaches are difficult to apply. However, trained agents may not generalize against the variations of system parameters. This paper presents…

We present an online multi-task learning approach for adaptive nonlinear control, which we call Online Meta-Adaptive Control (OMAC). The goal is to control a nonlinear system subject to adversarial disturbance and unknown…

Recent successes combine reinforcement learning algorithms and deep neural networks, despite reinforcement learning not being widely applied to robotics and real world scenarios. This can be attributed to the fact that current…

To make good decisions in the real world people need efficient planning strategies because their computational resources are limited. Knowing which planning strategies would work best for people in different situations would be very useful…

Designing a stabilizing controller for nonlinear systems is a challenging task, especially for high-dimensional problems with unknown dynamics. Traditional reinforcement learning algorithms applied to stabilization tasks tend to drive the…

Learning reliably safe autonomous control is one of the core problems in trustworthy autonomy. However, training a controller that can be formally verified to be safe remains a major challenge. We introduce a novel approach for learning…

This paper presents a hierarchical framework based on deep reinforcement learning that learns a diversity of policies for humanoid balance control. Conventional zero moment point based controllers perform limited actions during…

Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However,…

Abstraction is key to scaling up reinforcement learning (RL). However, autonomously learning abstract state and action representations to enable transfer and generalization remains a challenging open problem. This paper presents a novel…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

While conventional reinforcement learning focuses on designing agents that can perform one task, meta-learning aims, instead, to solve the problem of designing agents that can generalize to different tasks (e.g., environments, obstacles,…

Hierarchical reinforcement learning (HRL) has seen widespread interest as an approach to tractable learning of complex modular behaviors. However, existing work either assume access to expert-constructed hierarchies, or use…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…

One of the key challenges in applying reinforcement learning to real-life problems is that the amount of train-and-error required to learn a good policy increases drastically as the task becomes complex. One potential solution to this…

A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links,…