相关论文: Continual Reinforcement Learning deployed in Real-…

This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Dexterous manipulation, often facilitated by multi-fingered robotic hands, holds solid impact for real-world applications. Soft robotic hands, due to their compliant nature, offer flexibility and adaptability during object grasping and…

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

We present Reinforcement Learning via Auxiliary Task Distillation (AuxDistill), a new method that enables reinforcement learning (RL) to perform long-horizon robot control problems by distilling behaviors from auxiliary RL tasks. AuxDistill…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

Robots will experience non-stationary environment dynamics throughout their lifetime: the robot dynamics can change due to wear and tear, or its surroundings may change over time. Eventually, the robots should perform well in all of the…

Learning in a lifelong setting, where the dynamics continually evolve, is a hard challenge for current reinforcement learning algorithms. Yet this would be a much needed feature for practical applications. In this paper, we propose an…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Today's advanced Reinforcement Learning algorithms produce black-box policies, that are often difficult to interpret and trust for a person. We introduce a policy distilling algorithm, building on the CN2 rule mining algorithm, that…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alone can achieve. However, vision-enabled policies tend to…

Continual learning, enabling models to acquire new skills and knowledge without degrading existing capabilities, remains a fundamental challenge for foundation models. While on-policy reinforcement learning can reduce forgetting, it…

Deep Reinforcement Learning has been successfully applied to learn robotic control. However, the corresponding algorithms struggle when applied to problems where the agent is only rewarded after achieving a complex task. In this context,…

We propose Algorithm Distillation (AD), a method for distilling reinforcement learning (RL) algorithms into neural networks by modeling their training histories with a causal sequence model. Algorithm Distillation treats learning to…

As humans, our goals and our environment are persistently changing throughout our lifetime based on our experiences, actions, and internal and external drives. In contrast, typical reinforcement learning problem set-ups consider decision…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Deep reinforcement learning (DRL) is a booming area of artificial intelligence. Many practical applications of DRL naturally involve more than one collaborative learners, making it important to study DRL in a multi-agent context. Previous…

Biological intelligence can learn to solve many diverse tasks in a data efficient manner by re-using basic knowledge and skills from one task to another. Furthermore, many of such skills are acquired without explicit supervision in an…