相关论文: Evaluating task-agnostic exploration for fixed-bat…

Offline reinforcement learning enables sample-efficient policy acquisition without risky online interaction, yet policies trained on static datasets remain brittle under action-space perturbations such as actuator faults. This study…

An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn…

Robot learning is a very promising topic for the future of automation and machine intelligence. Future robots should be able to autonomously acquire skills, learn to represent their environment, and interact with it. While these topics have…

Robot learning is at an inflection point, driven by rapid advancements in machine learning and the growing availability of large-scale robotics data. This shift from classical, model-based methods to data-driven, learning-based paradigms is…

Reinforcement learning algorithms describe how an agent can learn an optimal action policy in a sequential decision process, through repeated experience. In a given environment, the agent policy provides him some running and terminal…

Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

Offline reinforcement learning (RL) algorithms can acquire effective policies by utilizing previously collected experience, without any online interaction. It is widely understood that offline RL is able to extract good policies even from…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

Learning policies that generalize across multiple tasks is an important and challenging research topic in reinforcement learning and robotics. Training individual policies for every single potential task is often impractical, especially for…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

Methods proposed in the literature towards continual deep learning typically operate in a task-based sequential learning setup. A sequence of tasks is learned, one at a time, with all data of current task available but not of previous or…

Autonomous agents operating in domains such as robotics or video game simulations must adapt to changing tasks without forgetting about the previous ones. This process called Continual Reinforcement Learning poses non-trivial difficulties,…

We consider scenarios from the real-time strategy game StarCraft as new benchmarks for reinforcement learning algorithms. We propose micromanagement tasks, which present the problem of the short-term, low-level control of army members…

Many policy search algorithms have been proposed for robot learning and proved to be practical in real robot applications. However, there are still hyperparameters in the algorithms, such as the exploration rate, which requires manual…

This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

In complex tasks, such as those with large combinatorial action spaces, random exploration may be too inefficient to achieve meaningful learning progress. In this work, we use a curriculum of progressively growing action spaces to…

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…

Offline reinforcement learning learns policies from fixed datasets without further environment interaction. A key challenge in this setting is epistemic uncertainty, arising from limited or biased data coverage, particularly when the…

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of…