相关论文: PI-QT-Opt: Predictive Information Improves Multi-T…

With the increasing presence of robotic systems and human-robot environments in today's society, understanding the reasoning behind actions taken by a robot is becoming more important. To increase this understanding, users are provided with…

Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…

Interactive Imitation Learning (IIL) allows agents to acquire desired behaviors through human interventions, but current methods impose high cognitive demands on human supervisors. We propose the Adaptive Intervention Mechanism (AIM), a…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

Recently, adapting pre-trained models to downstream tasks has attracted increasing interest. Previous Parameter-Efficient-Tuning (PET) methods regard the pre-trained model as an opaque Black Box model, relying purely on data-driven…

Limited data has become a major bottleneck in scaling up offline imitation learning (IL). In this paper, we propose enhancing IL performance under limited expert data by introducing a pre-training stage that learns dynamics representations,…

We begin with the hypothesis that a model-free agent whose representations are predictive of properties of future states (beyond expected rewards) will be more capable of solving and adapting to new RL problems. To test that hypothesis, we…

This paper introduces an approach to Reinforcement Learning Algorithm by comparing their immediate rewards using a variation of Q-Learning algorithm. Unlike the conventional Q-Learning, the proposed algorithm compares current reward with…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

Vision-Language-Action (VLA) models have shown great potential in general robotic decision-making tasks via imitation learning. However, the variable quality of training data often constrains the performance of these models. On the other…

Interactive reinforcement learning has become an important apprenticeship approach to speed up convergence in classic reinforcement learning problems. In this regard, a variant of interactive reinforcement learning is policy shaping which…

Deep reinforcement learning algorithms have recently been used to train multiple interacting agents in a centralised manner whilst keeping their execution decentralised. When the agents can only acquire partial observations and are faced…

The number of Internet of Things (IoT) devices being deployed into networks is growing at a phenomenal level, which makes IoT networks more vulnerable in the wireless medium. Advanced Persistent Threat (APT) is malicious to most of the…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Learning models of artificial intelligence can nowadays perform very well on a large variety of tasks. However, in practice different task environments are best handled by different learning models, rather than a single, universal,…

Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…

Proactivity in robot assistance refers to the robot's ability to anticipate user needs and perform assistive actions without explicit requests. This requires understanding user routines, predicting consistent activities, and actively…

Passive observational data, such as human videos, is abundant and rich in information, yet remains largely untapped by current RL methods. Perhaps surprisingly, we show that passive data, despite not having reward or action labels, can…

Recent work in offline reinforcement learning (RL) has demonstrated the effectiveness of formulating decision-making as return-conditioned supervised learning. Notably, the decision transformer (DT) architecture has shown promise across…