相关论文: Task-Agnostic Learning to Accomplish New Tasks

In Meta-Reinforcement Learning (meta-RL) an agent is trained on a set of tasks to prepare for and learn faster in new, unseen, but related tasks. The training tasks are usually hand-crafted to be representative of the expected distribution…

Deep reinforcement learning primarily focuses on learning behavior, usually overlooking the fact that an agent's function is largely determined by form. So, how should one go about finding a morphology fit for solving tasks in a given…

Learning novel concepts while preserving prior knowledge is a long-standing challenge in machine learning. The challenge gets greater when a novel task is given with only a few labeled examples, a problem known as incremental few-shot…

Machine learning often requires millions of examples to produce static, black-box models. In contrast, interactive task learning (ITL) emphasizes incremental knowledge acquisition from limited instruction provided by humans in modalities…

Recent state-of-the-art artificial agents lack the ability to adapt rapidly to new tasks, as they are trained exclusively for specific objectives and require massive amounts of interaction to learn new skills. Meta-reinforcement learning…

Natural Language-conditioned reinforcement learning (RL) enables the agents to follow human instructions. Previous approaches generally implemented language-conditioned RL by providing human instructions in natural language (NL) and…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Consider mutli-goal tasks that involve static environments and dynamic goals. Examples of such tasks, such as goal-directed navigation and pick-and-place in robotics, abound. Two types of Reinforcement Learning (RL) algorithms are used for…

Active learning selects the most informative samples to exploit limited annotation budgets. Existing work follows a cumbersome pipeline that repeats the time-consuming model training and batch data selection multiple times. In this paper,…

Reactions such as gestures, facial expressions, and vocalizations are an abundant, naturally occurring channel of information that humans provide during interactions. A robot or other agent could leverage an understanding of such implicit…

In the era of data-driven intelligence, the paradox of data abundance and annotation scarcity has emerged as a critical bottleneck in the advancement of machine learning. This paper gives a detailed overview of Active Learning (AL), which…

Despite recent progress in reinforcement learning (RL) from raw pixel data, sample inefficiency continues to present a substantial obstacle. Prior works have attempted to address this challenge by creating self-supervised auxiliary tasks,…

We study reinforcement learning (RL) in settings where observations are high-dimensional, but where an RL agent has access to abstract knowledge about the structure of the state space, as is the case, for example, when a robot is tasked to…

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,…

Applying reinforcement learning (RL) to sparse reward domains is notoriously challenging due to insufficient guiding signals. Common RL techniques for addressing such domains include (1) learning from demonstrations and (2) curriculum…

Recent advancements in large language models (LLMs) have enabled their use as agents for planning complex tasks. Existing methods typically rely on a thought-action-observation (TAO) process to enhance LLM performance, but these approaches…

We present Q-chunking, a simple yet effective recipe for improving reinforcement learning (RL) algorithms for long-horizon, sparse-reward tasks. Our recipe is designed for the offline-to-online RL setting, where the goal is to leverage an…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…

While combining imitation learning (IL) and reinforcement learning (RL) is a promising way to address poor sample efficiency in autonomous behavior acquisition, methods that do so typically assume that the requisite behavior demonstrations…