相关论文: Provable Representation Learning for Imitation wit…

The high sample complexity of reinforcement learning challenges its use in practice. A promising approach is to quickly adapt pre-trained policies to new environments. Existing methods for this policy adaptation problem typically rely on…

One of the key challenges in visual imitation learning is collecting large amounts of expert demonstrations for a given task. While methods for collecting human demonstrations are becoming easier with teleoperation methods and the use of…

Recent methods for reinforcement learning from images use auxiliary tasks to learn image features that are used by the agent's policy or Q-function. In particular, methods based on contrastive learning that induce linearity of the latent…

In safe reinforcement learning, agent needs to balance between exploration actions and safety constraints. Following this paradigm, domain transfer approaches learn a prior Q-function from the related environments to prevent unsafe actions.…

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy. From a behavioral perspective, active inference agents can be seen as…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

We study the problem of imitation learning from demonstrations of multiple coordinating agents. One key challenge in this setting is that learning a good model of coordination can be difficult, since coordination is often implicit in the…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…

In view of its power in extracting feature representation, contrastive self-supervised learning has been successfully integrated into the practice of (deep) reinforcement learning (RL), leading to efficient policy learning in various…

Contrastive learning methods for unsupervised visual representation learning have reached remarkable levels of transfer performance. We argue that the power of contrastive learning has yet to be fully unleashed, as current methods are…

Meta-learning, or learning-to-learn, seeks to design algorithms that can utilize previous experience to rapidly learn new skills or adapt to new environments. Representation learning -- a key tool for performing meta-learning -- learns a…

This paper introduces a novel application of Supervised Contrastive Learning (SupCon) to Imitation Learning (IL), with a focus on learning more effective state representations for agents in video game environments. The goal is to obtain…

Recently, various auxiliary tasks have been proposed to accelerate representation learning and improve sample efficiency in deep reinforcement learning (RL). However, existing auxiliary tasks do not take the characteristics of RL problems…

We study the problem of programmatic reinforcement learning, in which policies are represented as short programs in a symbolic language. Programmatic policies can be more interpretable, generalizable, and amenable to formal verification…

Representation learning is a central challenge across a range of machine learning areas. In reinforcement learning, effective and functional representations have the potential to tremendously accelerate learning progress and solve more…

Approaches for goal-conditioned reinforcement learning (GCRL) often use learned state representations to extract goal-reaching policies. Two frameworks for representation structure have yielded particularly effective GCRL algorithms: (1)…

We study the problem of representation transfer in offline Reinforcement Learning (RL), where a learner has access to episodic data from a number of source tasks collected a priori, and aims to learn a shared representation to be used in…

Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoencoders or inverse dynamics enable goal-conditioned decision…

Contrastive representation learning has emerged as a promising technique for continual learning as it can learn representations that are robust to catastrophic forgetting and generalize well to unseen future tasks. Previous work in…

Imitation learning (IL) from a state-based reinforcement learning (RL) policy is a common approach to overcome the curse of dimensionality in complex and high-dimensional observation spaces prevalent in robotics. This paper addresses the…