相关论文: Developing cooperative policies for multi-stage re…

Being able to solve a task in diverse ways makes agents more robust to task variations and less prone to local optima. In this context, constrained diversity optimization has become a useful reinforcement learning (RL) framework for…

Continual Learning (CL) considers the problem of training an agent sequentially on a set of tasks while seeking to retain performance on all previous tasks. A key challenge in CL is catastrophic forgetting, which arises when performance on…

We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…

Autonomous agents situated in real-world environments must be able to master large repertoires of skills. While a single short skill can be learned quickly, it would be impractical to learn every task independently. Instead, the agent…

Recently, some challenging tasks in multi-agent systems have been solved by some hierarchical reinforcement learning methods. Inspired by the intra-level and inter-level coordination in the human nervous system, we propose a novel value…

Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tasks. However, they often fail during deployment due to noisy…

It is desirable for an agent to be able to solve a rich variety of problems that can be specified through language in the same environment. A popular approach towards obtaining such agents is to reuse skills learned in prior tasks to…

We propose a method for tackling catastrophic forgetting in deep reinforcement learning that is \textit{agnostic} to the timescale of changes in the distribution of experiences, does not require knowledge of task boundaries, and can adapt…

Cognitive Psychology and related disciplines have identified several critical mechanisms that enable intelligent biological agents to learn to solve complex problems. There exists pressing evidence that the cognitive mechanisms that enable…

In many real-world applications, reinforcement learning (RL) agents might have to solve multiple tasks, each one typically modeled via a reward function. If reward functions are expressed linearly, and the agent has previously learned a set…

Achieving safe and coordinated behavior in dynamic, constraint-rich environments remains a major challenge for learning-based control. Pure end-to-end learning often suffers from poor sample efficiency and limited reliability, while…

Multi-task reinforcement learning endeavors to efficiently leverage shared information across various tasks, facilitating the simultaneous learning of multiple tasks. Existing approaches primarily focus on parameter sharing with carefully…

What is a useful skill hierarchy for an autonomous agent? We propose an answer based on a graphical representation of how the interaction between an agent and its environment may unfold. Our approach uses modularity maximisation as a…

Punishment is a common tactic to sustain cooperation and has been extensively studied for a long time. While most of previous game-theoretic work adopt the imitation learning where players imitate the strategies who are better off, the…

Hierarchical Reinforcement Learning (HRL) is well-suitedd for solving complex tasks by breaking them down into structured policies. However, HRL agents often struggle with efficient exploration and quick adaptation. To overcome these…

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

How does the amount of compute available to a reinforcement learning (RL) policy affect its learning? Can policies using a fixed amount of parameters, still benefit from additional compute? The standard RL framework does not provide a…

Recently, collaborative robots have begun to train humans to achieve complex tasks, and the mutual information exchange between them can lead to successful robot-human collaborations. In this paper we demonstrate the application and…

Multi-agent reinforcement learning (MARL) has attracted much research attention recently. However, unlike its single-agent counterpart, many theoretical and algorithmic aspects of MARL have not been well-understood. In this paper, we study…

With the rise of online e-commerce platforms, more and more customers prefer to shop online. To sell more products, online platforms introduce various modules to recommend items with different properties such as huge discounts. A web page…