相关论文: Benchmarking Deep Reinforcement Learning Algorithm…

Current research directions in deep reinforcement learning include bridging the simulation-reality gap, improving sample efficiency of experiences in distributed multi-agent reinforcement learning, together with the development of robust…

We study reinforcement learning in hybrid discrete-continuous action spaces, such as settings where the discrete component selects a regime (or index) and the continuous component optimizes within it -- a structure common in robotics,…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Manipulating deformable objects has long been a challenge in robotics due to its high dimensional state representation and complex dynamics. Recent success in deep reinforcement learning provides a promising direction for learning to…

As deep reinforcement learning driven by visual perception becomes more widely used there is a growing need to better understand and probe the learned agents. Understanding the decision making process and its relationship to visual inputs…

Real-time learning is crucial for robotic agents adapting to ever-changing, non-stationary environments. A common setup for a robotic agent is to have two different computers simultaneously: a resource-limited local computer tethered to the…

Reinforcement learning has shown great potential in solving complex tasks when large amounts of data can be generated with little effort. In robotics, one approach to generate training data builds on simulations based on dynamics models…

In spoken dialogue systems, we aim to deploy artificial intelligence to build automated dialogue agents that can converse with humans. A part of this effort is the policy optimisation task, which attempts to find a policy describing how to…

Deep reinforcement learning has made significant progress in robotic manipulation tasks and it works well in the ideal disturbance-free environment. However, in a real-world environment, both internal and external disturbances are…

In this paper, a novel racing environment for OpenAI Gym is introduced. This environment operates with continuous action- and state-spaces and requires agents to learn to control the acceleration and steering of a car while navigating a…

The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…

The desire to make applications and machines more intelligent and the aspiration to enable their operation without human interaction have been driving innovations in neural networks, deep learning, and other machine learning techniques.…

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…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

Hindsight Experience Replay (HER) is a technique used in reinforcement learning (RL) that has proven to be very efficient for training off-policy RL-based agents to solve goal-based robotic manipulation tasks using sparse rewards. Even…

The performance of modern reinforcement learning algorithms critically relies on tuning ever-increasing numbers of hyperparameters. Often, small changes in a hyperparameter can lead to drastic changes in performance, and different…

Despite the significant success at enabling robots with autonomous behaviors makes deep reinforcement learning a promising approach for robotic object search task, the deep reinforcement learning approach severely suffers from the nature…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

Recent advances in GPU-based parallel simulation have enabled practitioners to collect large amounts of data and train complex control policies using deep reinforcement learning (RL), on commodity GPUs. However, such successes for RL in…