相关论文: Physics-informed reinforcement learning via probab…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…

Intelligent systems have the ability to improve their behaviour over time taking observations, experiences or explicit feedback into account. Traditional approaches separate the learning problem and make isolated use of techniques from…

Reinforcement learning (RL) provides a naturalistic framing for learning through trial and error, which is appealing both because of its simplicity and effectiveness and because of its resemblance to how humans and animals acquire skills…

The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…

Training reinforcement learning (RL) policies for legged locomotion often requires extensive environment interactions, which are costly and time-consuming. We propose Symmetry-Guided Memory Augmentation (SGMA), a framework that improves…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

Reinforcement learning has become an essential algorithm for generating complex robotic behaviors. However, to learn such behaviors, it is necessary to design a reward function that describes the task, which often consists of multiple…

Current AI alignment through RLHF follows a single directional paradigm that AI conforms to human preferences while treating human cognition as fixed. We propose a shift to co-alignment through Bidirectional Cognitive Alignment (BiCA),…

Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is…

Recent progress in AI and Reinforcement learning has shown great success in solving complex problems with high dimensional state spaces. However, most of these successes have been primarily in simulated environments where failure is of…

Reinforcement learning (RL) is a flexible and efficient method for programming micro-robots in complex environments. Here we investigate whether reinforcement learning can provide insights into biological systems when trained to perform…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

Interactive reinforcement learning has shown promise in learning complex robotic tasks. However, the process can be human-intensive due to the requirement of a large amount of interactive feedback. This paper presents a new method that uses…

The use of Reinforcement Learning (RL) agents in practical applications requires the consideration of suboptimal outcomes, depending on the familiarity of the agent with its environment. This is especially important in safety-critical…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…

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…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…