相关论文: Multi-Horizon Representations with Hierarchical Fo…

Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high success rates and generalization requires high cost, e.g.,…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of task space commands with a model-based low-level (LL)…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

Learning in high-dimensional action spaces is a key challenge in applying reinforcement learning (RL) to real-world systems. In this paper, we study the possibility of controlling power networks using RL methods. Power networks are critical…

The recent mainstream reinforcement learning control for quadruped robots often relies on privileged information, demanding meticulous selection and precise estimation, thereby imposing constraints on the development process. This work…

For deep reinforcement learning (RL) from pixels, learning effective state representations is crucial for achieving high performance. However, in practice, limited experience and high-dimensional inputs prevent effective representation…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

The combination of exponentially large action spaces, stochastic dynamics, and long-horizon decision-making under limited resources makes Sequential Stochastic Combinatorial Optimization (SSCO) particularly challenging for reinforcement…

We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level…

Humans perceive actions through key transitions that structure actions across multiple abstraction levels, whereas machines, relying on visual features, tend to over-segment. This highlights the difficulty of enabling hierarchical reasoning…

Reinforcement learning (RL) presents a promising framework to learn policies through environment interaction, but often requires an infeasible amount of interaction data to solve complex tasks from sparse rewards. One direction includes…

The process of learning a manipulation task depends strongly on the action space used for exploration: posed in the incorrect action space, solving a task with reinforcement learning can be drastically inefficient. Additionally, similar…

Goal-conditioned hierarchical reinforcement learning (HRL) is a promising approach for scaling up reinforcement learning (RL) techniques. However, it often suffers from training inefficiency as the action space of the high-level, i.e., the…

The management of mixed traffic that consists of robot vehicles (RVs) and human-driven vehicles (HVs) at complex intersections presents a multifaceted challenge. Traditional signal controls often struggle to adapt to dynamic traffic…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

In today's rapidly evolving military landscape, advancing artificial intelligence (AI) in support of wargaming becomes essential. Despite reinforcement learning (RL) showing promise for developing intelligent agents, conventional RL faces…

A major challenge in modern reinforcement learning (RL) is efficient control of dynamical systems from high-dimensional sensory observations. Learning controllable embedding (LCE) is a promising approach that addresses this challenge by…