相关论文: Learning Transferable Domain Priors for Safe Explo…

Domain adaptation is a common problem in robotics, with applications such as transferring policies from simulation to real world and lifelong learning. Performing such adaptation, however, requires informative data about the environment to…

Inverse reinforcement learning (IRL) has progressed significantly toward accurately learning the underlying rewards in both discrete and continuous domains from behavior data. The next advance is to learn {\em intrinsic} preferences in ways…

Learning to solve tasks from a sparse reward signal is a major challenge for standard reinforcement learning (RL) algorithms. However, in the real world, agents rarely need to solve sparse reward tasks entirely from scratch. More often, we…

The ability to adapt to changes in environmental contingencies is an important challenge in reinforcement learning. Indeed, transferring previously acquired knowledge to environments with unseen structural properties can greatly enhance the…

Transfer reinforcement learning aims to improve the sample efficiency of solving unseen new tasks by leveraging experiences obtained from previous tasks. We consider the setting where all tasks (MDPs) share the same environment dynamic…

We are interested in how to design reinforcement learning agents that provably reduce the sample complexity for learning new tasks by transferring knowledge from previously-solved ones. The availability of solutions to related problems…

This paper surveys the field of reinforcement learning from a computer-science perspective. It is written to be accessible to researchers familiar with machine learning. Both the historical basis of the field and a broad selection of…

The objective of a reinforcement learning agent is to discover better actions through exploration. However, typical exploration techniques aim to maximize rewards, often incurring high costs in both exploration and learning processes. We…

Safe reinforcement learning (RL) agents accomplish given tasks while adhering to specific constraints. Employing constraints expressed via easily-understandable human language offers considerable potential for real-world applications due to…

Text adventure games, in which players must make sense of the world through text descriptions and declare actions through text descriptions, provide a stepping stone toward grounding action in language. Prior work has demonstrated that…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

To quickly solve new tasks in complex environments, intelligent agents need to build up reusable knowledge. For example, a learned world model captures knowledge about the environment that applies to new tasks. Similarly, skills capture…

Offline Reinforcement Learning (RL) aims to extract near-optimal policies from imperfect offline data without additional environment interactions. Extracting policies from diverse offline datasets has the potential to expand the range of…

In this paper we consider the problem of how a reinforcement learning agent that is tasked with solving a sequence of reinforcement learning problems (a sequence of Markov decision processes) can use knowledge acquired early in its lifetime…

In this paper, we explore the utilization of natural language to drive transfer for reinforcement learning (RL). Despite the wide-spread application of deep RL techniques, learning generalized policy representations that work across domains…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Efficient exploration remains a challenging research problem in reinforcement learning, especially when an environment contains large state spaces, deceptive local optima, or sparse rewards. To tackle this problem, we present a…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…

The contribution focuses on the problem of exploration within the task of knowledge transfer. Knowledge transfer refers to the useful application of the knowledge gained while learning the source task in the target task. The intended…