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

Humans often think of complex tasks as combinations of simpler subtasks in order to learn those complex tasks more efficiently. For example, a backflip could be considered a combination of four subskills: jumping, tucking knees, rolling…

Traditionally, learning from human demonstrations via direct behavior cloning can lead to high-performance policies given that the algorithm has access to large amounts of high-quality data covering the most likely scenarios to be…

Accurately simulating diverse behaviors of heterogeneous agents in various scenarios is fundamental to autonomous driving simulation. This task is challenging due to the multi-modality of behavior distribution, the high-dimensionality of…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

Intelligent Tutoring Systems often grant learners shared control over skill and problem selection. This choice brings motivational and metacognitive benefits. At the same time, past literature suggests that learners exhibit diverse…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

Cooperative Multi-Agent Reinforcement Learning (MARL) faces two major design bottlenecks: crafting dense reward functions and constructing curricula that avoid local optima in high-dimensional, non-stationary environments. Existing…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

Reinforcement learning (RL) has demonstrated remarkable potential in robotic manipulation but faces challenges in sample inefficiency and lack of interpretability, limiting its applicability in real world scenarios. Enabling the agent to…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

Curriculum learning--ordering training examples in a sequence to aid machine learning--takes inspiration from human learning, but has not gained widespread acceptance. Static strategies for scoring item difficulty rely on indirect proxy…

A major challenge in the Deep RL (DRL) community is to train agents able to generalize their control policy over situations never seen in training. Training on diverse tasks has been identified as a key ingredient for good generalization,…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

Reward machines allow the definition of rewards for temporally extended tasks and behaviors. Specifying "informative" reward machines can be challenging. One way to address this is to generate reward machines from a high-level abstract…

Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…

Reinforcement Learning is a mature technology, often suggested as a potential route towards Artificial General Intelligence, with the ambitious goal of replicating the wide range of abilities found in natural and artificial intelligence,…

This work in the field of developmental cognitive robotics aims to devise a new domain bridging between reinforcement learning and imitation learning, with a model of the intrinsic motivation for learning agents to learn with guidance from…

Multi-agent reinforcement learning involves multiple agents interacting with each other and a shared environment to complete tasks. When rewards provided by the environment are sparse, agents may not receive immediate feedback on the…