相关论文: Selection-Expansion: A Unifying Framework for Moti…

The success of teams in robotics, nature, and society often depends on the division of labor among diverse specialists; however, a principled explanation for when such diversity surpasses a homogeneous team is still missing. Focusing on…

The most data-efficient algorithms for reinforcement learning in robotics are model-based policy search algorithms, which alternate between learning a dynamical model of the robot and optimizing a policy to maximize the expected return…

Reinforcement learning often needs to deal with the exponential growth of states and actions when exploring optimal control in high-dimensional spaces (often known as the curse of dimensionality). In this work, we address this issue by…

This paper investigates exploration strategies of Deep Reinforcement Learning (DRL) methods to learn navigation policies for mobile robots. In particular, we augment the normal external reward for training DRL algorithms with intrinsic…

A learning process with the plasticity property often requires reinforcement signals to guide the process. However, in some tasks (e.g. maze-navigation), it is very difficult (or impossible) to measure the performance of an agent (i.e. a…

Multi-goal reinforcement learning (RL) aims to qualify the agent to accomplish multi-goal tasks, which is of great importance in learning scalable robotic manipulation skills. However, reward engineering always requires strenuous efforts in…

Reinforcement Learning (RL) agents often struggle with inefficient exploration, particularly in environments with sparse rewards. Traditional exploration strategies can lead to slow learning and suboptimal performance because agents fail to…

Many fields use search algorithms, which automatically explore a search space to find high-performing solutions: chemists search through the space of molecules to discover new drugs; engineers search for stronger, cheaper, safer designs,…

Modern day computing increasingly relies on specialization to satiate growing performance and efficiency requirements. A core challenge in designing such specialized hardware architectures is how to perform mapping space search, i.e.,…

There is a growing interest in Multi-Agent Reinforcement Learning (MARL) as the first steps towards building general intelligent agents that learn to make low and high-level decisions in non-stationary complex environments in the presence…

In a variety of domains, from robotics to finance, Quality-Diversity algorithms have been used to generate collections of both diverse and high-performing solutions. Multi-Objective Quality-Diversity algorithms have emerged as a promising…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

This study informs the design of future multi-agent pathfinding (MAPF) and multi-robot motion planning (MRMP) algorithms by guiding choices based on constraint classification for constraint-based search algorithms. We categorize constraints…

A reinforcement learning agent that needs to pursue different goals across episodes requires a goal-conditional policy. In addition to their potential to generalize desirable behavior to unseen goals, such policies may also enable…

We study reward-free reinforcement learning (RL) with linear function approximation, where the agent works in two phases: (1) in the exploration phase, the agent interacts with the environment but cannot access the reward; and (2) in the…

In the last few years, the research activity around reinforcement learning tasks formulated over environments with sparse rewards has been especially notable. Among the numerous approaches proposed to deal with these hard exploration…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

Efficient exploration is an unsolved problem in Reinforcement Learning which is usually addressed by reactively rewarding the agent for fortuitously encountering novel situations. This paper introduces an efficient active exploration…

In the Reinforcement Learning (RL) framework, the learning is guided through a reward signal. This means that in situations of sparse rewards the agent has to focus on exploration, in order to discover which action, or set of actions leads…

Diversifying return results is an important research topic in retrieval systems in order to satisfy both the various interests of customers and the equal market exposure of providers. There has been growing attention on diversity-aware…