相关论文: Deep Hierarchical Planning from Pixels

Understanding the behavior of deep reinforcement learning (DRL) agents -particularly as task and agent sophistication increase- requires more than simple comparison of reward curves, yet standard methods for behavioral analysis remain…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

Reinforcement learning allows solving complex tasks, however, the learning tends to be task-specific and the sample efficiency remains a challenge. We present Plan2Explore, a self-supervised reinforcement learning agent that tackles both…

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

Decision making for self-driving cars is usually tackled by manually encoding rules from drivers' behaviors or imitating drivers' manipulation using supervised learning techniques. Both of them rely on mass driving data to cover all…

Reinforcement Learning (RL) has made promising progress in planning and decision-making for Autonomous Vehicles (AVs) in simple driving scenarios. However, existing RL algorithms for AVs fail to learn critical driving skills in complex…

How do people decide how long to continue in a task, when to switch, and to which other task? Understanding the mechanisms that underpin task interleaving is a long-standing goal in the cognitive sciences. Prior work suggests greedy…

Typical reinforcement learning (RL) agents learn to complete tasks specified by reward functions tailored to their domain. As such, the policies they learn do not generalize even to similar domains. To address this issue, we develop a…

Many currently deployed Reinforcement Learning agents work in an environment shared with humans, be them co-workers, users or clients. It is desirable that these agents adjust to people's preferences, learn faster thanks to their help, and…

For an intelligent agent to flexibly and efficiently operate in complex environments, they must be able to reason at multiple levels of temporal, spatial, and conceptual abstraction. At the lower levels, the agent must interpret their…

Modern image editing models produce realistic results but struggle with abstract, multi step instructions (e.g., ``make this advertisement more vegetarian-friendly''). Prior agent based methods decompose such tasks but rely on handcrafted…

The current thesis aims to explore the reinforcement learning field and build on existing methods to produce improved ones to tackle the problem of learning in high-dimensional and complex environments. It addresses such goals by…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

Recent advances in on-policy reinforcement learning (RL) methods enabled learning agents in virtual environments to master complex tasks with high-dimensional and continuous observation and action spaces. However, leveraging this family of…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

We consider scenarios from the real-time strategy game StarCraft as new benchmarks for reinforcement learning algorithms. We propose micromanagement tasks, which present the problem of the short-term, low-level control of army members…

We propose a novel framework to controller design in environments with a two-level structure: a known high-level graph ("map") in which each vertex is populated by a Markov decision process, called a "room". The framework "separates…

Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…