相关论文: Foundational Policy Acquisition via Multitask Lear…

Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors,…

The development of intelligent robots requires control policies that can handle dynamic environments and evolving tasks. Pre-training reinforcement learning has emerged as an effective approach to address these demands by enabling robots to…

Solving complex problems using reinforcement learning necessitates breaking down the problem into manageable tasks and learning policies to solve these tasks. These policies, in turn, have to be controlled by a master policy that takes…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

Reaching-and-grasping is a fundamental skill for robotic manipulation, but existing methods usually train models on a specific gripper and cannot be reused on another gripper. In this paper, we propose a novel method that can learn a…

Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved. Recent works have demonstrated the effectiveness of deep reinforcement learning (DRL) for simulation and…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

Conventional reinforcement learning (RL) methods can successfully solve a wide range of sequential decision problems. However, learning policies that can generalize predictably across multiple tasks in a setting with non-Markovian reward…

Reinforcement learning considers the problem of finding policies that maximize an expected cumulative reward in a Markov decision process with unknown transition probabilities. In this paper we consider the problem of finding optimal…

Decision transformers recast reinforcement learning as a conditional sequence generation problem, offering a simple but effective alternative to traditional value or policy-based methods. A recent key development in this area is the…

We study the problem of learning goal-conditioned policies in Minecraft, a popular, widely accessible yet challenging open-ended environment for developing human-level multi-task agents. We first identify two main challenges of learning…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

We present an algorithm for model-based reinforcement learning that combines Bayesian neural networks (BNNs) with random roll-outs and stochastic optimization for policy learning. The BNNs are trained by minimizing $\alpha$-divergences,…

Reinforcement learning (RL), a common tool in decision making, learns control policies from various experiences based on the associated cumulative return/rewards without treating them differently. Humans, on the contrary, often learn to…

Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tasks. However, they often fail during deployment due to noisy…

It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…

Transfer reinforcement learning (RL) aims at improving the learning efficiency of an agent by exploiting knowledge from other source agents trained on relevant tasks. However, it remains challenging to transfer knowledge between different…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…