相关论文: Learning Vision-based Robotic Manipulation Tasks S…

Continually learning new skills is important for intelligent systems, yet standard deep learning methods suffer from catastrophic forgetting of the past. Recent works address this with weight regularisation. Functional regularisation,…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Existing offline reinforcement learning (RL) methods face a few major challenges, particularly the distributional shift between the learned policy and the behavior policy. Offline Meta-RL is emerging as a promising approach to address these…

This work studies offline Reinforcement Learning (RL) in a class of non-Markovian environments called Regular Decision Processes (RDPs). In RDPs, the unknown dependency of future observations and rewards from the past interactions can be…

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…

Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

As with any machine learning problem with limited data, effective offline RL algorithms require careful regularization to avoid overfitting. One-step methods perform regularization by doing just a single step of policy improvement, while…

This work introduces a neuro-symbolic agent that combines deep reinforcement learning (DRL) with temporal logic (TL) to achieve systematic zero-shot, i.e., never-seen-before, generalisation of formally specified instructions. In particular,…

This paper presents a novel approach to generalizing robot manipulation skills by combining a sampling-based task-and-motion planner with an offline reinforcement learning algorithm. Starting with a small library of scripted primitive…

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,…

Reinforcement learning is able to solve complex sequential decision-making tasks but is currently limited by sample efficiency and required computation. To improve sample efficiency, recent work focuses on model-based RL which interleaves…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

Meta-reinforcement learning (meta-RL) is a promising approach that enables the agent to learn new tasks quickly. However, most meta-RL algorithms show poor generalization in multi-task scenarios due to the insufficient task information…

Sequential learning, also called lifelong learning, studies the problem of learning tasks in a sequence with access restricted to only the data of the current task. In this paper we look at a scenario with fixed model capacity, and…

Meta-reinforcement learning (Meta-RL) facilitates rapid adaptation to unseen tasks but faces challenges in long-horizon environments. Skill-based approaches tackle this by decomposing state-action sequences into reusable skills and…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

Offline reinforcement learning (RL) aims to learn an optimal policy from a static dataset, making it particularly valuable in scenarios where data collection is costly, such as robotics. A major challenge in offline RL is distributional…

Reinforcement learning (RL) algorithms have demonstrated promising results on complex tasks, yet often require impractical numbers of samples since they learn from scratch. Meta-RL aims to address this challenge by leveraging experience…