相关论文: MaMiC: Macro and Micro Curriculum for Robotic Rein…

Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…

Real-time control for robotics is a popular research area in the reinforcement learning community. Through the use of techniques such as reward shaping, researchers have managed to train online agents across a multitude of domains. Despite…

We introduce Mix&Match (M&M) - a training framework designed to facilitate rapid and effective learning in RL agents, especially those that would be too slow or too challenging to train otherwise. The key innovation is a procedure that…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces training in simulated environments. Even in simulation,…

An important challenge in reinforcement learning is training agents that can solve a wide variety of tasks. If tasks depend on each other (e.g. needing to learn to walk before learning to run), curriculum learning can speed up learning by…

Reinforcement learning (RL) problems can be challenging without well-shaped rewards. Prior work on provably efficient RL methods generally proposes to address this issue with dedicated exploration strategies. However, another way to tackle…

Learning a policy capable of moving an agent between any two states in the environment is important for many robotics problems involving navigation and manipulation. Due to the sparsity of rewards in such tasks, applying reinforcement…

Curriculum learning in reinforcement learning is used to shape exploration by presenting the agent with increasingly complex tasks. The idea of curriculum learning has been largely applied in both animal training and pedagogy. In…

Diverse studies in systems neuroscience begin with extended periods of curriculum training known as `shaping' procedures. These involve progressively studying component parts of more complex tasks, and can make the difference between…

When faced with learning challenging new tasks, humans often follow sequences of steps that allow them to incrementally build up the necessary skills for performing these new tasks. However, in machine learning, models are most often…

We describe a framework for multitask deep reinforcement learning guided by policy sketches. Sketches annotate tasks with sequences of named subtasks, providing information about high-level structural relationships among tasks but not how…

An important current challenge in Human-Robot Interaction (HRI) is to enable robots to learn on-the-fly from human feedback. However, humans show a great variability in the way they reward robots. We propose to address this issue by…

In order to provide adaptive and user-friendly solutions to robotic manipulation, it is important that the agent can learn to accomplish tasks even if they are only provided with very sparse instruction signals. To address the issues…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently. Both imitation and reinforcement learning or a combination of them with hierarchical structures have been proven to be an efficient…

Many relevant tasks require an agent to reach a certain state, or to manipulate objects into a desired configuration. For example, we might want a robot to align and assemble a gear onto an axle or insert and turn a key in a lock. These…

Reinforcement learning (RL) has emerged as a powerful tool for tackling control problems, but its practical application is often hindered by the complexity arising from intricate reward functions with multiple terms. The reward hypothesis…

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…

Various automatic curriculum learning (ACL) methods have been proposed to improve the sample efficiency and final performance of deep reinforcement learning (DRL). They are designed to control how a DRL agent collects data, which is…