相关论文: Efficient RL via Disentangled Environment and Agen…

Reinforcement Learning (RL) algorithms can learn robotic control tasks from visual observations, but they often require a large amount of data, especially when the visual scene is complex and unstructured. In this paper, we explore how the…

Learning effective representations in image-based environments is crucial for sample efficient Reinforcement Learning (RL). Unfortunately, in RL, representation learning is confounded with the exploratory experience of the agent -- learning…

Finding a generally accepted formal definition of a disentangled representation in the context of an agent behaving in an environment is an important challenge towards the construction of data-efficient autonomous agents. Higgins et al.…

Reinforcement Learning (RL) environments can produce training data with spurious correlations between features due to the amount of training data or its limited feature coverage. This can lead to RL agents encoding these misleading…

Reinforcement Learning (RL) agents are often unable to generalise well to environment variations in the state space that were not observed during training. This issue is especially problematic for image-based RL, where a change in just one…

We design a simple reinforcement learning (RL) agent that implements an optimistic version of $Q$-learning and establish through regret analysis that this agent can operate with some level of competence in any environment. While we leverage…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

In this study, our goal is to create interactive avatar agents that can autonomously plan and animate nuanced facial movements realistically, from both visual and behavioral perspectives. Given high-level inputs about the environment and…

Model-based reinforcement learning (RL) has proven to be a data efficient approach for learning control tasks but is difficult to utilize in domains with complex observations such as images. In this paper, we present a method for learning…

Effective environment perception is crucial for enabling downstream robotic applications. Individual robotic agents often face occlusion and limited visibility issues, whereas multi-agent systems can offer a more comprehensive mapping of…

Navigating unsignalized intersections in urban environments poses a complex challenge for self-driving vehicles, where issues such as view obstructions, unpredictable pedestrian crossings, and diverse traffic participants demand a great…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Despite the significant advances in Deep Reinforcement Learning (RL) observed in the last decade, the amount of training experience necessary to learn effective policies remains one of the primary concerns in both simulated and real…

How can intelligent agents solve a diverse set of tasks in a data-efficient manner? The disentangled representation learning approach posits that such an agent would benefit from separating out (disentangling) the underlying structure of…

Representation learning algorithms are designed to learn abstract features that characterize data. State representation learning (SRL) focuses on a particular kind of representation learning where learned features are in low dimension,…

Learning from demonstration is an effective method for human users to instruct desired robot behaviour. However, for most non-trivial tasks of practical interest, efficient learning from demonstration depends crucially on inductive bias in…

Disentangled Representation Learning (DRL) aims to learn a model capable of identifying and disentangling the underlying factors hidden in the observable data in representation form. The process of separating underlying factors of variation…

Self-supervised representation learning has achieved remarkable success in recent years. By subverting the need for supervised labels, such approaches are able to utilize the numerous unlabeled images that exist on the Internet and in…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Intelligent agents should be able to learn useful representations by observing changes in their environment. We model such observations as pairs of non-i.i.d. images sharing at least one of the underlying factors of variation. First, we…