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

Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains…

Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such…

Human-centered AI considers human experiences with AI performance. While abundant research has been helping AI achieve superhuman performance either by fully automatic or weak supervision learning, fewer endeavors are experimenting with how…

Current reinforcement learning algorithms train an agent using forward-generated trajectories, which provide little guidance so that the agent can explore as much as possible. While realizing the value of reinforcement learning results from…

Being able to solve a task in diverse ways makes agents more robust to task variations and less prone to local optima. In this context, constrained diversity optimization has become a useful reinforcement learning (RL) framework for…

Dexterous manipulation tasks usually have multiple objectives, and the priorities of these objectives may vary at different phases of a manipulation task. Varying priority makes a robot hardly or even failed to learn an optimal policy with…

In this paper, we study the cooperative Multi-Agent Reinforcement Learning (MARL) problems using Reward Machines (RMs) to specify the reward functions such that the prior knowledge of high-level events in a task can be leveraged to…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

Reward machines (RMs) are a recent formalism for representing the reward function of a reinforcement learning task through a finite-state machine whose edges encode subgoals of the task using high-level events. The structure of RMs enables…

There has been a recent surge of interest in developing generally-capable agents that can adapt to new tasks without additional training in the environment. Learning world models from reward-free exploration is a promising approach, and…

Training machine learning models in a meaningful order, from the easy samples to the hard ones, using curriculum learning can provide performance improvements over the standard training approach based on random data shuffling, without any…

Reinforcement learning has emerged as a paradigm for post-training large language models, boosting their reasoning capabilities. Such approaches compute an advantage value for each sample, reflecting better or worse performance than…

Learning to lift and rotate objects with the fingertips is necessary for autonomous in-hand dexterous manipulation. In our study, we explore the impact of various factors on successful learning strategies for this task. Specifically, we…

Curriculum learning techniques are a viable solution for improving the accuracy of automatic models, by replacing the traditional random training with an easy-to-hard strategy. However, the standard curriculum methodology does not…

In this paper, we present a multi-agent reinforcement learning (MARL) framework for optimizing tissue repair processes using engineered biological agents. Our approach integrates: (1) stochastic reaction-diffusion systems modeling molecular…

Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…

For specialized domains, there is often not a wealth of data with which to train large machine learning models. In such limited data / compute settings, various methods exist aiming to $\textit{do more with less}$, such as finetuning from a…

Machine learning algorithms learn to solve a task, but are unable to improve their ability to learn. Meta-learning methods learn about machine learning algorithms and improve them so that they learn more quickly. However, existing…

Curriculum reinforcement learning (CRL) improves the learning speed and stability of an agent by exposing it to a tailored series of tasks throughout learning. Despite empirical successes, an open question in CRL is how to automatically…

As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…