相关论文: Efficient Robotic Object Search via HIEM: Hierarch…

This paper proposes a policy-based deep reinforcement learning hyper-heuristic framework for solving the Job Shop Scheduling Problem. The hyper-heuristic agent learns to switch scheduling rules based on the system state dynamically. We…

For many applications of reinforcement learning it can be more convenient to specify both a reward function and constraints, rather than trying to design behavior through the reward function. For example, systems that physically interact…

End-to-end learning of robot control policies, structured as neural networks, has emerged as a promising approach to robotic manipulation. To complete many common tasks, relevant objects are required to pass in and out of a robot's field of…

Deep reinforcement learning (DRL) is capable of learning high-performing policies on a variety of complex high-dimensional tasks, ranging from video games to robotic manipulation. However, standard DRL methods often suffer from poor sample…

Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…

Recent work in hierarchical reinforcement learning has shown success in scaling to billions of timesteps when learning over a set of predefined option reward functions. We show that, instead of using a single reward function per option, the…

"Looking for things" is a mundane but critical task we repeatedly carry on in our daily life. We introduce a method to develop a human character capable of searching for a randomly located target object in a detailed 3D scene using its…

The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…

Finding meaningful and accurate dense rewards is a fundamental task in the field of reinforcement learning (RL) that enables agents to explore environments more efficiently. In traditional RL settings, agents learn optimal policies through…

We present a new approach for efficient exploration which leverages a low-dimensional encoding of the environment learned with a combination of model-based and model-free objectives. Our approach uses intrinsic rewards that are based on the…

In Hindsight Experience Replay (HER), a reinforcement learning agent is trained by treating whatever it has achieved as virtual goals. However, in previous work, the experience was replayed at random, without considering which episode might…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

In reinforcement learning (RL), agents continually interact with the environment and use the feedback to refine their behavior. To guide policy optimization, reward models are introduced as proxies of the desired objectives, such that when…

Methods of deep machine learning enable to to reuse low-level representations efficiently for generating more abstract high-level representations. Originally, deep learning has been applied passively (e.g., for classification purposes).…

This work presents a Hierarchical Multi-Agent Reinforcement Learning framework for analyzing simulated air combat scenarios involving heterogeneous agents. The objective is to identify effective Courses of Action that lead to mission…

Sparse rewards and long time horizons remain challenging for reinforcement learning algorithms. Exploration bonuses can help in sparse reward settings by encouraging agents to explore the state space, while hierarchical approaches can…

At an early age, human infants are able to learn and build a model of the world very quickly by constantly observing and interacting with objects around them. One of the most fundamental intuitions human infants acquire is intuitive…

Deep reinforcement learning includes a broad family of algorithms that parameterise an internal representation, such as a value function or policy, by a deep neural network. Each algorithm optimises its parameters with respect to an…

Exploring in environments with high-dimensional observations is hard. One promising approach for exploration is to use intrinsic rewards, which often boils down to estimating "novelty" of states, transitions, or trajectories with deep…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…