相关论文: HTMRL: Biologically Plausible Reinforcement Learni…

Reinforcement learning (RL) has experienced a second wind in the past decade. While incredibly successful in images and videos, these systems still operate within the realm of propositional tasks ignoring the inherent structure that exists…

The performance of reinforcement learning (RL) algorithms is sensitive to the choice of hyperparameters, with the learning rate being particularly influential. RL algorithms fail to reach convergence or demand an extensive number of samples…

A major challenge of reinforcement learning (RL) in real-world applications is the variation between environments, tasks or clients. Meta-RL (MRL) addresses this issue by learning a meta-policy that adapts to new tasks. Standard MRL methods…

Continuous-time reinforcement learning (CTRL) provides a natural framework for sequential decision-making in dynamic environments where interactions evolve continuously over time. While CTRL has shown growing empirical success, its ability…

Homeostasis is a biological process by which living beings maintain their internal balance. Previous research suggests that homeostasis is a learned behaviour. Recently introduced Homeostatic Regulated Reinforcement Learning (HRRL)…

Deep reinforcement learning (RL) is computationally demanding and requires processing of many data points. Synchronous methods enjoy training stability while having lower data throughput. In contrast, asynchronous methods achieve high…

Reinforcement Learning (RL) has shown remarkable progress in simulation environments, yet its application to real-world robotic tasks remains limited due to challenges in exploration and generalization. To address these issues, we introduce…

Homeostasis is a prevalent process by which living beings maintain their internal milieu around optimal levels. Multiple lines of evidence suggest that living beings learn to act to predicatively ensure homeostasis (allostasis). A classical…

Reinforcement Learning (RL) algorithms can suffer from poor sample efficiency when rewards are delayed and sparse. We introduce a solution that enables agents to learn temporally extended actions at multiple levels of abstraction in a…

Reinforcement learning-based mapless navigation holds significant potential. However, it faces challenges in indoor environments with local minima area. This paper introduces a safe mapless navigation framework utilizing hierarchical…

Common approaches to Reinforcement Learning (RL) are seriously challenged by large-scale applications involving huge state spaces and sparse delayed reward feedback. Hierarchical Reinforcement Learning (HRL) methods attempt to address this…

Solving long-horizon, temporally-extended tasks using Reinforcement Learning (RL) is challenging, compounded by the common practice of learning without prior knowledge (or tabula rasa learning). Humans can generate and execute plans with…

We study human-in-the-loop reinforcement learning (RL) with trajectory preferences, where instead of receiving a numeric reward at each step, the agent only receives preferences over trajectory pairs from a human overseer. The goal of the…

Hierarchical reinforcement learning (HRL) has recently shown promising advances on speeding up learning, improving the exploration, and discovering intertask transferable skills. Most recent works focus on HRL with two levels, i.e., a…

Mobile Manipulation (MM) systems are ideal candidates for taking up the role of a personal assistant in unstructured real-world environments. Among other challenges, MM requires effective coordination of the robot's embodiments for…

Efficient spectrum allocation has become crucial as the surge in wireless-connected devices demands seamless support for more users and applications, a trend expected to grow with 6G. Innovations in satellite technologies such as SpaceX's…

When Reinforcement Learning (RL) agents are deployed in practice, they might impact their environment and change its dynamics. We propose a new framework to model this phenomenon, where the current environment depends on the deployed policy…

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

In modern ML Ops environments, model deployment is a critical process that traditionally relies on static heuristics such as validation error comparisons and A/B testing. However, these methods require human intervention to adapt to…