相关论文: Data-efficient Hindsight Off-policy Option Learnin…

As a robot senses and selects actions, the world keeps changing. This inference delay creates a gap of tens to hundreds of milliseconds between the observed state and the state at execution. In this work, we take the natural generalization…

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…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Monotonic policy improvement and off-policy learning are two main desirable properties for reinforcement learning algorithms. In this paper, by lower bounding the performance difference of two policies, we show that the monotonic policy…

This article introduces an imitation learning method for learning maximum entropy policies that comply with constraints demonstrated by expert trajectories executing a task. The formulation of the method takes advantage of results…

We present a methodology for formulating simplifying abstractions in machine learning systems by identifying and harnessing the utility structure of decisions. Machine learning tasks commonly involve high-dimensional output spaces (e.g.,…

Existing off-policy reinforcement learning algorithms often rely on an explicit state-action-value function representation, which can be problematic in high-dimensional action spaces due to the curse of dimensionality. This reliance results…

In collaborative tasks, autonomous agents fall short of humans in their capability to quickly adapt to new and unfamiliar teammates. We posit that a limiting factor for zero-shot coordination is the lack of shared task abstractions, a…

Deep-learning-based intelligent services have become prevalent in cyber-physical applications including smart cities and health-care. Collaborative end-edge-cloud computing for deep learning provides a range of performance and efficiency…

Fully autonomous racing demands not only high-speed driving but also fair and courteous maneuvers. In this paper, we propose an autonomous racing framework that learns complex racing behaviors from expert demonstrations using hierarchical…

Learning to optimize - the idea that we can learn from data algorithms that optimize a numerical criterion - has recently been at the heart of a growing number of research efforts. One of the most challenging issues within this approach is…

Active learning aims to select a small subset of data for annotation such that a classifier learned on the data is highly accurate. This is usually done using heuristic selection methods, however the effectiveness of such methods is limited…

Recently, sequence learning methods have been applied to the problem of off-policy Reinforcement Learning, including the seminal work on Decision Transformers, which employs transformers for this task. Since transformers are…

In recent years, the growing demand for more intelligent service robots is pushing the development of mobile robot navigation algorithms to allow safe and efficient operation in a dense crowd. Reinforcement learning (RL) approaches have…

Hierarchical Reinforcement Learning (HRL) agents have the potential to demonstrate appealing capabilities such as planning and exploration with abstraction, transfer, and skill reuse. Recent successes with HRL across different domains…

Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift arising due to the small amount of expert data, recent works…

In many practical applications, usually, similar optimisation problems or scenarios repeatedly appear. Learning from previous problem-solving experiences can help adjust algorithm components of meta-heuristics, e.g., adaptively selecting…

In imitation learning from observation IfO, a learning agent seeks to imitate a demonstrating agent using only observations of the demonstrated behavior without access to the control signals generated by the demonstrator. Recent methods…

Temporal abstraction allows reinforcement learning agents to represent knowledge and develop strategies over different temporal scales. The option-critic framework has been demonstrated to learn temporally extended actions, represented as…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…