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Deep learning techniques have been widely applied, achieving state-of-the-art results in various fields of study. This survey focuses on deep learning solutions that target learning control policies for robotics applications. We carry out…

Reinforcement learning (RL) has shown great promise with algorithms learning in environments with large state and action spaces purely from scalar reward signals. A crucial challenge for current deep RL algorithms is that they require a…

Robot manipulation is an important part of human-robot interaction technology. However, traditional pre-programmed methods can only accomplish simple and repetitive tasks. To enable effective communication between robots and humans, and to…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…

In recent years, model-free methods that use deep learning have achieved great success in many different reinforcement learning environments. Most successful approaches focus on solving a single task, while multi-task reinforcement learning…

Efficient and effective exploration in continuous space is a central problem in applying reinforcement learning (RL) to autonomous driving. Skills learned from expert demonstrations or designed for specific tasks can benefit the…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we…

On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy learning. However, how to encourage the agent to explore the…

Recent Offline Reinforcement Learning methods have succeeded in learning high-performance policies from fixed datasets of experience. A particularly effective approach learns to first identify and then mimic optimal decision-making…

The ability to learn from large batches of autonomously collected data for policy improvement -- a paradigm we refer to as batch online reinforcement learning -- holds the promise of enabling truly scalable robot learning by significantly…

Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…

Offline zero-shot reinforcement learning (RL) aims to learn agents that optimize unseen reward functions without additional environment interaction. The standard approach to this problem trains task-conditioned policies by sampling task…

In reinforcement learning (RL) research, it is common to assume access to direct online interactions with the environment. However in many real-world applications, access to the environment is limited to a fixed offline dataset of logged…

Reliable and effective multi-task learning is a prerequisite for the development of robotic agents that can quickly learn to accomplish related, everyday tasks. However, in the reinforcement learning domain, multi-task learning has not…

Offline Reinforcement Learning (RL) aims at learning an optimal control from a fixed dataset, without interactions with the system. An agent in this setting should avoid selecting actions whose consequences cannot be predicted from the…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Sample efficiency and exploration remain major challenges in online reinforcement learning (RL). A powerful approach that can be applied to address these issues is the inclusion of offline data, such as prior trajectories from a human…

A reinforcement learning agent tries to maximize its cumulative payoff by interacting in an unknown environment. It is important for the agent to explore suboptimal actions as well as to pick actions with highest known rewards. Yet, in…