相关论文: Random Actions vs Random Policies: Bootstrapping M…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or…

This paper proposes to use probabilistic model checking to synthesize optimal robot policies in multi-tasking autonomous systems that are subject to human-robot interaction. Given the convincing empirical evidence that human behavior can be…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

This effort is focused on examining the behavior of reinforcement learning systems in personalization environments and detailing the differences in policy entropy associated with the type of learning algorithm utilized. We demonstrate that…

Classical learning assumes the learner is given a labeled data sample, from which it learns a model. The field of Active Learning deals with the situation where the learner begins not with a training sample, but instead with resources that…

Model-based reinforcement learning methods learn a dynamics model with real data sampled from the environment and leverage it to generate simulated data to derive an agent. However, due to the potential distribution mismatch between…

When environmental interaction is expensive, model-based reinforcement learning offers a solution by planning ahead and avoiding costly mistakes. Model-based agents typically learn a single-step transition model. In this paper, we propose a…

As we deploy reinforcement learning agents to solve increasingly challenging problems, methods that allow us to inject prior knowledge about the structure of the world and effective solution strategies becomes increasingly important. In…

This paper introduces a novel causal framework for multi-stage decision-making in natural language action spaces where outcomes are only observed after a sequence of actions. While recent approaches like Proximal Policy Optimization (PPO)…

We model the joint distribution of choice probabilities and decision times in binary choice tasks as the solution to a problem of optimal sequential sampling, where the agent is uncertain of the utility of each action and pays a constant…

The ways in which an agent's actions affect the world can often be modeled compactly using a set of relational probabilistic planning rules. This paper addresses the problem of learning such rule sets for multiple related tasks. We take a…

We develop a normative framework for hierarchical model-based policy optimization based on applying second-order methods in the space of all possible state-action paths. The resulting natural path gradient performs policy updates in a…

We are witnessing an increasing use of data-driven predictive models to inform decisions. As decisions have implications for individuals and society, there is increasing pressure on decision makers to be transparent about their decision…

Learning processes by exploiting restricted domain knowledge is an important task across a plethora of scientific areas, with more and more hybrid training methods additively combining data-driven and model-based approaches. Although the…

We propose an exploration method that incorporates look-ahead search over basic learnt skills and their dynamics, and use it for reinforcement learning (RL) of manipulation policies . Our skills are multi-goal policies learned in isolation…