相关论文: Batch Exploration with Examples for Scalable Robot…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Reinforcement Learning (RL) algorithms can learn robotic control tasks from visual observations, but they often require a large amount of data, especially when the visual scene is complex and unstructured. In this paper, we explore how the…

Curiosity is a general method for augmenting an environment reward with an intrinsic reward, which encourages exploration and is especially useful in sparse reward settings. As curiosity is calculated using next state prediction error, the…

Reinforcement learning (RL) agents improve through trial-and-error, but when reward is sparse and the agent cannot discover successful action sequences, learning stagnates. This has been a notable problem in training deep RL agents to…

Active learning selects the most informative samples to exploit limited annotation budgets. Existing work follows a cumbersome pipeline that repeats the time-consuming model training and batch data selection multiple times. In this paper,…

With expansive state-action spaces, efficient multi-agent exploration remains a longstanding challenge in reinforcement learning. Although pursuing novelty, diversity, or uncertainty attracts increasing attention, redundant efforts brought…

In this work, we introduce the concept of Active Representation Learning, a novel class of problems that intertwines exploration and representation learning within partially observable environments. We extend ideas from Active Simultaneous…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

Humans have mental models that allow them to plan, experiment, and reason in the physical world. How should an intelligent agent go about learning such models? In this paper, we will study if models of the world learned in an open-ended…

Reinforcement learning (RL) enables robots to learn skills from interactions with the real world. In practice, the unstructured step-based exploration used in Deep RL -- often very successful in simulation -- leads to jerky motion patterns…

How can artificial agents learn to solve many diverse tasks in complex visual environments in the absence of any supervision? We decompose this question into two problems: discovering new goals and learning to reliably achieve them. We…

Vision-based reinforcement learning (RL) is a promising technique to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image…

Dynamic scene understanding remains a persistent challenge in robotic applications. Early dynamic mapping methods focused on mitigating the negative influence of short-term dynamic objects on camera motion estimation by masking or tracking…

Recent advances in reinforcement learning have demonstrated its ability to solve hard agent-environment interaction tasks on a super-human level. However, the application of reinforcement learning methods to practical and real-world tasks…

The effectiveness of model training heavily relies on the quality of available training resources. However, budget constraints often impose limitations on data collection efforts. To tackle this challenge, we introduce causal exploration in…

Autonomous exploration is a widely studied problem where a robot incrementally builds a map of a previously unknown environment. The robot selects the next locations to reach using an exploration strategy. To do so, the robot has to balance…

Active robot exploration requires decision-making processes that integrate localization and mapping under tightly coupled uncertainty. However, managing these interdependent uncertainties over long-term operations in large-scale…

Modern day computer games have extremely large state and action spaces. To detect bugs in these games' models, human testers play the games repeatedly to explore the game and find errors in the games. Such gameplay is exhaustive and time…

Reinforcement learning (RL) promises to expand the capabilities of language models, but it is unclear if current RL techniques promote the discovery of novel behaviors, or simply sharpen those already present in the base model. In this…

The ability of neural networks to perform robotic perception and control tasks such as depth and optical flow estimation, simultaneous localization and mapping (SLAM), and automatic control has led to their widespread adoption in recent…