相关论文: Unsupervised Reinforcement Learning for Transferab…
In this work, we study model-based reinforcement learning (RL) in unknown stabilizable linear dynamical systems. When learning a dynamical system, one needs to stabilize the unknown dynamics in order to avoid system blow-ups. We propose an…
Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…
Reward-free, unsupervised discovery of skills is an attractive alternative to the bottleneck of hand-designing rewards in environments where task supervision is scarce or expensive. However, current skill pre-training methods, like many RL…
Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more…
Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…
Single-task RL agents are typically trained under a fixed reward function, which limits their robustness to reward misspecification and their ability to adapt to changing preferences. We introduce Reward-Conditioned Reinforcement Learning…
Building trust in reinforcement learning (RL) agents requires understanding why they make certain decisions, especially in high-stakes applications like robotics, healthcare, and finance. Existing explainability methods often focus on…
We study the problem of unsupervised skill discovery, whose goal is to learn a set of diverse and useful skills with no external reward. There have been a number of skill discovery methods based on maximizing the mutual information (MI)…
Reward-free data is abundant and contains rich prior knowledge of human behaviors, but it is not well exploited by offline reinforcement learning (RL) algorithms. In this paper, we propose UBER, an unsupervised approach to extract useful…
With the rise of deep reinforcement learning (RL) methods, many complex robotic manipulation tasks are being solved. However, harnessing the full power of deep learning requires large datasets. Online-RL does not suit itself readily into…
Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…
Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…
Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…
Despite significant progress, deep reinforcement learning (RL) suffers from data-inefficiency and limited generalization. Recent efforts apply meta-learning to learn a meta-learner from a set of RL tasks such that a novel but related task…
Deep reinforcement learning algorithms require large amounts of experience to learn an individual task. While in principle meta-reinforcement learning (meta-RL) algorithms enable agents to learn new skills from small amounts of experience,…
End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…
Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…
In recent years, Reinforcement Learning (RL) is becoming a popular technique for training controllers for robots. However, for complex dynamic robot control tasks, RL-based method often produces controllers with unrealistic styles. In…
Deep Reinforcement Learning (DRL) enables robots to learn complex behaviors through interaction with the environment. However, due to the unrestricted nature of the learning algorithms, the resulting solutions are often brittle and appear…
Meta reinforcement learning (meta-RL) aims to learn a policy solving a set of training tasks simultaneously and quickly adapting to new tasks. It requires massive amounts of data drawn from training tasks to infer the common structure…