相关论文: Learning to Plan via a Multi-Step Policy Regressio…

We introduce a novel training procedure for policy gradient methods wherein episodic memory is used to optimize the hyperparameters of reinforcement learning algorithms on-the-fly. Unlike other hyperparameter searches, we formulate…

This paper proposes and analyzes two new policy learning methods: regularized policy gradient (RPG) and iterative policy optimization (IPO), for a class of discounted linear-quadratic control (LQC) problems over an infinite time horizon…

Many hierarchical reinforcement learning algorithms utilise a series of independent skills as a basis to solve tasks at a higher level of reasoning. These algorithms don't consider the value of using skills that are cooperative instead of…

Reinforcement learning consists of finding policies that maximize an expected cumulative long-term reward in a Markov decision process with unknown transition probabilities and instantaneous rewards. In this paper, we consider the problem…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…

Sampling-based motion planners have experienced much success due to their ability to efficiently and evenly explore the state space. However, for many tasks, it may be more efficient to not uniformly explore the state space, especially when…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

In this paper, a new population-guided parallel learning scheme is proposed to enhance the performance of off-policy reinforcement learning (RL). In the proposed scheme, multiple identical learners with their own value-functions and…

Increasing the success rate of a process, i.e. the percentage of cases that end in a positive outcome, is a recurrent process improvement goal. At runtime, there are often certain actions (a.k.a. treatments) that workers may execute to lift…

Rolling Horizon Evolutionary Algorithms (RHEA) are a class of online planning methods for real-time game playing; their performance is closely related to the planning horizon and the search time allowed. In this paper, we propose to learn a…

Model predictive path integral (MPPI) is a sampling-based method for solving complex model predictive control (MPC) problems, but its real-time implementation faces two key challenges: the computational cost and sample requirements grow…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Many of the challenges facing today's reinforcement learning (RL) algorithms, such as robustness, generalization, transfer, and computational efficiency are closely related to compression. Prior work has convincingly argued why minimizing…

There have been different strategies to improve the performance of a machine learning model, e.g., increasing the depth, width, and/or nonlinearity of the model, and using ensemble learning to aggregate multiple base/weak learners in…

A promising way to improve the sample efficiency of reinforcement learning is model-based methods, in which many explorations and evaluations can happen in the learned models to save real-world samples. However, when the learned model has a…

We study the problem of efficiently estimating policies that simultaneously optimize multiple objectives in reinforcement learning (RL). Given $n$ objectives (or tasks), we seek the optimal partition of these objectives into $k \ll n$…

Recently, the Deep Planning Network (PlaNet) approach was introduced as a model-based reinforcement learning method that learns environment dynamics directly from pixel observations. This architecture is useful for learning tasks in which…

Despite the recent successes of multi-agent reinforcement learning (MARL) algorithms, efficiently adapting to co-players in mixed-motive environments remains a significant challenge. One feasible approach is to hierarchically model…

Reinforcement learning (RL) shows great potential in sequential decision-making. At present, mainstream RL algorithms are data-driven, which usually yield better asymptotic performance but much slower convergence compared with model-driven…