相关论文: MANGA: Method Agnostic Neural-policy Generalizatio…

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or…

Meta-reinforcement learning (meta-RL) algorithms enable agents to adapt quickly to tasks from few samples in dynamic environments. Such a feat is achieved through dynamic representations in an agent's policy network (obtained via reasoning…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

In recent years, drones have found increased applications in a wide array of real-world tasks. Model predictive control (MPC) has emerged as a practical method for drone flight control, owing to its robustness against modeling…

In meta-learning and its downstream tasks, many methods rely on implicit adaptation to task variations, where multiple factors are mixed together in a single entangled representation. This makes it difficult to interpret which factors drive…

Recent work has shown the promise of creating generalist, transformer-based, models for language, vision, and sequential decision-making problems. To create such models, we generally require centralized training objectives, data, and…

In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with system identification to create generalized policies that…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

Despite ample motivation from costly exploration and limited trajectory data, rapidly adapting to new environments with few-shot reinforcement learning (RL) can remain a challenging task, especially with respect to personalized settings.…

Solving control tasks in complex environments automatically through learning offers great potential. While contemporary techniques from deep reinforcement learning (DRL) provide effective solutions, their decision-making is not transparent.…

A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this challenge through the following invariance principle: an agent…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

This work leverages adaptive social learning to estimate partially observable global states in multi-agent reinforcement learning (MARL) problems. Unlike existing methods, the proposed approach enables the concurrent operation of social…

Autonomous Driving requires high levels of coordination and collaboration between agents. Achieving effective coordination in multi-agent systems is a difficult task that remains largely unresolved. Multi-Agent Reinforcement Learning has…

When developing reinforcement learning agents, the standard approach is to train an agent to converge to a fixed policy that is as close to optimal as possible for a single fixed reward function. If different agent behaviour is required in…

Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…

Many meta-learning algorithms can be formulated into an interleaved process, in the sense that task-specific predictors are learned during inner-task adaptation and meta-parameters are updated during meta-update. The normal meta-training…

Multi-agent robotic systems are increasingly operating in real-world environments in close proximity to humans, yet are largely controlled by policy models with inscrutable deep neural network representations. We introduce a method for…