相关论文: Lifetime policy reuse and the importance of task c…

A long-lived autonomous agent should be able to respond online to novel instances of tasks from a familiar domain. Acting online requires 'fast' responses, in terms of rapid convergence, especially when the task instance has a short…

An important long-term goal in machine learning systems is to build learning agents that, like humans, can learn many tasks over their lifetime, and moreover use information from these tasks to improve their ability to do so efficiently. In…

Transfer learning can greatly speed up reinforcement learning for a new task by leveraging policies of relevant tasks. Existing works of policy reuse either focus on only selecting a single best source policy for transfer without…

Policy gradient methods have shown success in learning control policies for high-dimensional dynamical systems. Their biggest downside is the amount of exploration they require before yielding high-performing policies. In a lifelong…

Learning in a lifelong setting, where the dynamics continually evolve, is a hard challenge for current reinforcement learning algorithms. Yet this would be a much needed feature for practical applications. In this paper, we propose an…

Reinforcement learning (RL) has become an increasingly active area of research in recent years. Although there are many algorithms that allow an agent to solve tasks efficiently, they often ignore the possibility that prior experience…

Reinforcement learning requires interaction with an environment, which is expensive for robots. This constraint necessitates approaches that work with limited environmental interaction by maximizing the reuse of previous experiences. We…

Self-assessment rules play an essential role in safe and effective real-world robotic applications, which verify the feasibility of the selected action before actual execution. But how to utilize the self-assessment results to re-choose…

A major goal of artificial intelligence (AI) is to create an agent capable of acquiring a general understanding of the world. Such an agent would require the ability to continually accumulate and build upon its knowledge as it encounters…

Our research is focused on understanding and applying biological memory transfers to new AI systems that can fundamentally improve their performance, throughout their fielded lifetime experience. We leverage current understanding of…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

Lifelong learning can be viewed as a continuous transfer learning procedure over consecutive tasks, where learning a given task depends on accumulated knowledge --- the so-called knowledge base. Most published work on lifelong learning…

Lifelong reinforcement learning provides a promising framework for developing versatile agents that can accumulate knowledge over a lifetime of experience and rapidly learn new tasks by building upon prior knowledge. However, current…

This paper proposes a life-long adaptive path tracking policy learning method for autonomous vehicles that can self-evolve and self-adapt with multi-task knowledge. Firstly, the proposed method can learn a model-free control policy for path…

The reinforcement learning community has made great strides in designing algorithms capable of exceeding human performance on specific tasks. These algorithms are mostly trained one task at the time, each new task requiring to train a brand…

The innate capacity of humans and other animals to learn a diverse, and often interfering, range of knowledge and skills throughout their lifespan is a hallmark of natural intelligence, with obvious evolutionary motivations. In parallel,…

Deep reinforcement learning algorithms can learn complex behavioral skills, but real-world application of these methods requires a large amount of experience to be collected by the agent. In practical settings, such as robotics, this…

Many dynamic decision problems, such as robotic control, involve a series of tasks, many of which are unknown at training time. Typical approaches for these problems, such as multi-task and meta reinforcement learning, do not generalize…

Learning auxiliary tasks, such as multiple predictions about the world, can provide many benefits to reinforcement learning systems. A variety of off-policy learning algorithms have been developed to learn such predictions, but as yet there…

The ability to exploit prior experience to solve novel problems rapidly is a hallmark of biological learning systems and of great practical importance for artificial ones. In the meta reinforcement learning literature much recent work has…