相关论文: Exploiting Hierarchy for Learning and Transfer in …

Transfer learning can speed up training in machine learning and is regularly used in classification tasks. It reuses prior knowledge from other tasks to pre-train networks for new tasks. In reinforcement learning, learning actions for a…

This paper delves into designing stabilizing feedback control gains for continuous linear systems with unknown state matrix, in which the control is subject to a general structural constraint. We bring forth the ideas from reinforcement…

Reinforcement learning is a framework for learning to act sequentially in an unknown environment. We propose a natural approach for modeling policy structure in policy gradients. The key idea is to optimize for a subset of future rewards:…

When Reinforcement Learning (RL) agents are deployed in practice, they might impact their environment and change its dynamics. We propose a new framework to model this phenomenon, where the current environment depends on the deployed policy…

Achieving safe and coordinated behavior in dynamic, constraint-rich environments remains a major challenge for learning-based control. Pure end-to-end learning often suffers from poor sample efficiency and limited reliability, while…

In recent years deep reinforcement learning (RL) systems have attained superhuman performance in a number of challenging task domains. However, a major limitation of such applications is their demand for massive amounts of training data. A…

Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study the…

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…

The common purpose of applying reinforcement learning (RL) to asset management is the maximization of profit. The extrinsic reward function used to learn an optimal strategy typically does not take into account any other preferences or…

Hierarchical decomposition of control is unavoidable in large dynamical systems. In reinforcement learning (RL), it is usually solved with subgoals defined at higher policy levels and achieved at lower policy levels. Reaching these goals…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

Reinforcement learning (RL) is a goal-oriented learning solution that has proven to be successful for Neural Architecture Search (NAS) on the CIFAR and ImageNet datasets. However, a limitation of this approach is its high computational…

Reinforcement learning (RL) has been used in a range of simulated real-world tasks, e.g., sensor coordination, traffic light control, and on-demand mobility services. However, real world deployments are rare, as RL struggles with dynamic…

Reinforcement Learning (RL) in environments with complex, history-dependent reward structures poses significant challenges for traditional methods. In this work, we introduce a novel approach that leverages automaton-based feedback to guide…

Large language models (LLMs) have shown remarkable abilities in logical reasoning, in-context learning, and code generation. However, translating natural language instructions into effective robotic control policies remains a significant…

Hierarchical reinforcement learning (HRL) learns to make decisions on multiple levels of temporal abstraction. A key challenge in HRL is that the low-level policy changes over time, making it difficult for the high-level policy to generate…

Meta reinforcement learning (meta-RL) aims to learn a policy solving a set of training tasks simultaneously and quickly adapting to new tasks. It requires massive amounts of data drawn from training tasks to infer the common structure…

We study the problem of generalizing an expert agent's behavior, provided through demonstrations, to new environments and/or additional constraints. Inverse Reinforcement Learning (IRL) offers a promising solution by seeking to recover the…

We study the problem of learning exploration-exploitation strategies that effectively adapt to dynamic environments, where the task may change over time. While RNN-based policies could in principle represent such strategies, in practice…