相关论文: Hierarchical Imitation Learning for Stochastic Env…

Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…

Reinforcement Learning (RL) techniques have drawn great attention in many challenging tasks, but their performance deteriorates dramatically when applied to real-world problems. Various methods, such as domain randomization, have been…

Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control…

We study systems of interacting reinforced stochastic processes, where agents' decisions evolve under reinforcement, network-mediated interactions, and environmental influences. In competitive environments with irreducible networks, we…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

Simulation environments are good for learning different driving tasks like lane changing, parking or handling intersections etc. in an abstract manner. However, these simulation environments often restrict themselves to operate under…

Recent research has turned to Reinforcement Learning (RL) to solve challenging decision problems, as an alternative to hand-tuned heuristics. RL can learn good policies without the need for modeling the environment's dynamics. Despite this…

Reinforcement learning in multiagent systems has been studied in the fields of economic game theory, artificial intelligence and statistical physics by developing an analytical understanding of the learning dynamics (often in relation to…

In order for humans to confidently decide where to employ RL agents for real-world tasks, a human developer must validate that the agent will perform well at test-time. Some policy interpretability methods facilitate this by capturing the…

Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…

This paper studies the performative policy learning problem, where agents adjust their features in response to a released policy to improve their potential outcomes, inducing an endogenous distribution shift. There has been growing interest…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

Social norms serve as an important mechanism to regulate the behaviors of agents and to facilitate coordination among them in multiagent systems. One important research question is how a norm can rapidly emerge through repeated local…

Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…

Multi-Agent reinforcement learning has received lot of attention in recent years and have applications in many different areas. Existing methods involving Centralized Training and Decentralized execution, attempts to train the agents…

Reinforcement learning (RL) agents need to be robust to variations in safety-critical environments. While system identification methods provide a way to infer the variation from online experience, they can fail in settings where fast…

When developing reinforcement learning agents, the standard approach is to train an agent to converge to a fixed policy that is as close to optimal as possible for a single fixed reward function. If different agent behaviour is required in…

Meta-reinforcement learning algorithms provide a data-driven way to acquire policies that quickly adapt to many tasks with varying rewards or dynamics functions. However, learned meta-policies are often effective only on the exact task…