相关论文: Dot-to-Dot: Explainable Hierarchical Reinforcement…

Complex, multi-task problems have proven to be difficult to solve efficiently in a sparse-reward reinforcement learning setting. In order to be sample efficient, multi-task learning requires reuse and sharing of low-level policies. To…

Augmenting an agent's control with useful higher-level behaviors called options can greatly reduce the sample complexity of reinforcement learning, but manually designing options is infeasible in high-dimensional and abstract state spaces.…

Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…

Inspired by recent work in attention models for image captioning and question answering, we present a soft attention model for the reinforcement learning domain. This model uses a soft, top-down attention mechanism to create a bottleneck in…

Multi-Agent Deep Reinforcement Learning (MADRL) was proven efficient in solving complex problems in robotics or games, yet most of the trained models are hard to interpret. While learning intrinsically interpretable models remains a…

Reinforcement learning is applied to solve actual complex tasks from high-dimensional, sensory inputs. The last decade has developed a long list of reinforcement learning algorithms. Recent progress benefits from deep learning for raw…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Increasingly complex, non-linear World-Earth system models are used for describing the dynamics of the biophysical Earth system and the socio-economic and socio-cultural World of human societies and their interactions. Identifying pathways…

We propose a planning and perception mechanism for a robot (agent), that can only observe the underlying environment partially, in order to solve an image classification problem. A three-layer architecture is suggested that consists of a…

Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…

Reinforcement Learning (RL) agents often exhibit learning behaviors that are not intuitively interpretable by human observers, which can result in suboptimal feedback in collaborative teaching settings. Yet, how humans perceive and…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised framework for learning hierarchical manipulation concepts…

In this work we present a novel approach to hierarchical reinforcement learning for linearly-solvable Markov decision processes. Our approach assumes that the state space is partitioned, and the subtasks consist in moving between the…

The Hierarchical Reasoning Model (HRM) has impressive reasoning abilities given its small size, but has only been applied to supervised, static, fully-observable problems. One of HRM's strengths is its ability to adapt its computational…