相关论文: Continuous Control for Searching and Planning with…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

Exploration in multi-agent reinforcement learning is a challenging problem, especially in environments with sparse rewards. We propose a general method for efficient exploration by sharing experience amongst agents. Our proposed algorithm,…

It is non-trivial to design engaging and balanced sets of game rules. Modern chess has evolved over centuries, but without a similar recourse to history, the consequences of rule changes to game dynamics are difficult to predict. AlphaZero…

Recent work has shown how predictive modeling can endow agents with rich knowledge of their surroundings, improving their ability to act in complex environments. We propose question-answering as a general paradigm to decode and understand…

Control of complex systems involves both system identification and controller design. Deep neural networks have proven to be successful in many identification tasks, however, from model-based control perspective, these networks are…

We present an approach to sensorimotor control in immersive environments. Our approach utilizes a high-dimensional sensory stream and a lower-dimensional measurement stream. The cotemporal structure of these streams provides a rich…

Designing a distribution of environments in which RL agents can learn interesting and useful skills is a challenging and poorly understood task, for multi-agent environments the difficulties are only exacerbated. One approach is to train a…

Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planners do not ignore the interactive nature of the problem, and…

High-dimensional always-changing environments constitute a hard challenge for current reinforcement learning techniques. Artificial agents, nowadays, are often trained off-line in very static and controlled conditions in simulation such…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…

Effective coordination is crucial to solve multi-agent collaborative (MAC) problems. While centralized reinforcement learning methods can optimally solve small MAC instances, they do not scale to large problems and they fail to generalize…

We consider the problem of using multiple agents to harvest data from a collection of sensor nodes (targets) scattered across a two-dimensional environment. These targets transmit their data to the agents that move in the space above them,…

In the case of the two-person zero-sum stochastic game with a central controller, this paper proposes a best collaborative behavior search and selection algorithm based on reinforcement learning, in response to how to choose the best…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

Advances in reinforcement learning (RL) often rely on massive compute resources and remain notoriously sample inefficient. In contrast, the human brain is able to efficiently learn effective control strategies using limited resources. This…

This paper proposes Self-Imitation Learning (SIL), a simple off-policy actor-critic algorithm that learns to reproduce the agent's past good decisions. This algorithm is designed to verify our hypothesis that exploiting past good…

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios…

We propose DRAGO, a novel approach for continual model-based reinforcement learning aimed at improving the incremental development of world models across a sequence of tasks that differ in their reward functions but not the state space or…

We propose an improved algorithm by identifying and encouraging cooperative behavior in multi-agent environments. First, we analyze the shortcomings of existing algorithms in addressing multi-agent reinforcement learning problems. Then,…