相关论文: Episodic Self-Imitation Learning with Hindsight

This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired…

In continual learning (CL), an agent learns from a stream of tasks leveraging prior experience to transfer knowledge to future tasks. It is an ideal framework to decrease the amount of supervision in the existing learning algorithms. But…

As intents unfold and environments change, multi-turn agents face continuously shifting decision contexts. Although reusing past experience is intuitively appealing, existing approaches remain limited: full trajectories are often too…

Self-driving vehicles must be able to act intelligently in diverse and difficult environments, marked by high-dimensional state spaces, a myriad of optimization objectives and complex behaviors. Traditionally, classical optimization and…

Existing episodic reinforcement algorithms assume that the length of an episode is fixed across time and known a priori. In this paper, we consider a general framework of episodic reinforcement learning when the length of each episode is…

Imitation learning is a control design paradigm that seeks to learn a control policy reproducing demonstrations from expert agents. By substituting expert demonstrations for optimal behaviours, the same paradigm leads to the design of…

Language model (LM) agents deployed in novel environments often exhibit poor sample efficiency when learning from sequential interactions. This significantly hinders the usefulness of such agents in environments where interaction is costly…

Learning actions that are relevant to decision-making and can be executed effectively is a key problem in autonomous robotics. Current state-of-the-art action representations in robotics lack proper effect-driven learning of the robot's…

The problem of reinforcement learning is considered where the environment or the model undergoes a change. An algorithm is proposed that an agent can apply in such a problem to achieve the optimal long-time discounted reward. The algorithm…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

Learning in POMDPs is known to be significantly harder than in MDPs. In this paper, we consider the online learning problem for episodic POMDPs with unknown transition and observation models. We propose a Posterior Sampling-based…

In cooperative multi-agent reinforcement learning (MARL), agents aim to achieve a common goal, such as defeating enemies or scoring a goal. Existing MARL algorithms are effective but still require significant learning time and often get…

Most provably-efficient learning algorithms introduce optimism about poorly-understood states and actions to encourage exploration. We study an alternative approach for efficient exploration, posterior sampling for reinforcement learning…

Reinforcement learning has achieved remarkable success in robot learning. However, under challenging exploration and contact-rich dynamics, early-stage training is frequently dominated by premature terminations such as collisions and falls.…

Episodic memory plays an important role in the behavior of animals and humans. It allows the accumulation of information about current state of the environment in a task-agnostic way. This episodic representation can be later accessed by…

Recently, neuro-inspired episodic control (EC) methods have been developed to overcome the data-inefficiency of standard deep reinforcement learning approaches. Using non-/semi-parametric models to estimate the value function, they learn…

Tactical driving decision making is crucial for autonomous driving systems and has attracted considerable interest in recent years. In this paper, we propose several practical components that can speed up deep reinforcement learning…

In this paper, we present the $\texttt{e-COP}$ algorithm, the first policy optimization algorithm for constrained Reinforcement Learning (RL) in episodic (finite horizon) settings. Such formulations are applicable when there are separate…