相关论文: Cyclic Policy Distillation: Sample-Efficient Sim-t…

Multi-domain recommendation leverages domain-general knowledge to improve recommendations across several domains. However, as platforms expand to dozens or hundreds of scenarios, training all domains in a unified model leads to performance…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

Unified models capable of solving a wide variety of tasks have gained traction in vision and NLP due to their ability to share regularities and structures across tasks, which improves individual task performance and reduces computational…

Solving goal-oriented tasks is an important but challenging problem in reinforcement learning (RL). For such tasks, the rewards are often sparse, making it difficult to learn a policy effectively. To tackle this difficulty, we propose a new…

In this paper, we propose a novel training procedure for the continual representation learning problem in which a neural network model is sequentially learned to alleviate catastrophic forgetting in visual search tasks. Our method, called…

Recent success in Deep Reinforcement Learning (DRL) methods has shown that policy optimization with respect to an off-policy distribution via importance sampling is effective for sample reuse. In this paper, we show that the use of…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

Dataset distillation (DD) has emerged as a widely adopted technique for crafting a synthetic dataset that captures the essential information of a training dataset, facilitating the training of accurate neural models. Its applications span…

Off-policy ensemble reinforcement learning (RL) methods have demonstrated impressive results across a range of RL benchmark tasks. Recent works suggest that directly imitating experts' policies in a supervised manner before or during the…

Diffusion Policies (DPs) have attracted attention for their ability to achieve significant accuracy improvements in various imitation learning tasks. However, DPs depend on Diffusion Models, which require multiple noise removal steps to…

We propose Algorithm Distillation (AD), a method for distilling reinforcement learning (RL) algorithms into neural networks by modeling their training histories with a causal sequence model. Algorithm Distillation treats learning to…

Transfer Learning (TL) is a powerful tool that enables robots to transfer learned policies across different environments, tasks, or embodiments. To further facilitate this process, efforts have been made to combine it with Learning from…

Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, their performance heavily depends on the quality of their…

Dataset distillation (DD) aims to minimize the time and memory consumption needed for training deep neural networks on large datasets, by creating a smaller synthetic dataset that has similar performance to that of the full real dataset.…

A practical approach to learning robot skills, often termed sim2real, is to train control policies in simulation and then deploy them on a real robot. Popular techniques to improve the sim2real transfer build on domain randomization (DR) --…

Cooperative multi-agent reinforcement learning often assumes a fixed execution team, yet many decentralized systems must operate with varying numbers of active agents during deployment. We study this setting under episodic roster variation:…

Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…

This paper proposes an approach to domain transfer based on a pairwise loss function that helps transfer control policies learned in simulation onto a real robot. We explore the idea in the context of a 'category level' manipulation task…

While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action…