相关论文: Hierarchical Imitation Learning for Stochastic Env…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

Real-world applications require RL algorithms to act safely. During learning process, it is likely that the agent executes sub-optimal actions that may lead to unsafe/poor states of the system. Exploration is particularly brittle in…

The cooperation among AI systems, and between AI systems and humans is becoming increasingly important. In various real-world tasks, an agent needs to cooperate with unknown partner agent types. This requires the agent to assess the…

In reinforcement learning (RL), it is often advantageous to consider additional constraints on the action space to ensure safety or action relevance. Existing work on such action-constrained RL faces challenges regarding effective policy…

Conditional Imitation learning is a common and effective approach to train autonomous driving agents. However, two issues limit the full potential of this approach: (i) the inertia problem, a special case of causal confusion where the agent…

One of the main challenges of multi-agent learning lies in establishing convergence of the algorithms, as, in general, a collection of individual, self-serving agents is not guaranteed to converge with their joint policy, when learning…

One of the key challenges for multi-agent learning is scalability. In this paper, we introduce a technique for speeding up multi-agent learning by exploiting concurrent and incremental experience sharing. This solution adaptively identifies…

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or…

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…

Offline meta-reinforcement learning aims to equip agents with the ability to rapidly adapt to new tasks by training on data from a set of different tasks. Context-based approaches utilize a history of state-action-reward transitions --…

Reinforcement learning (RL) has been used in a range of simulated real-world tasks, e.g., sensor coordination, traffic light control, and on-demand mobility services. However, real world deployments are rare, as RL struggles with dynamic…

Homeostasis is a prevalent process by which living beings maintain their internal milieu around optimal levels. Multiple lines of evidence suggest that living beings learn to act to predicatively ensure homeostasis (allostasis). A classical…

The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…

We address the problem of reinforcement learning in which observations may exhibit an arbitrary form of stochastic dependence on past observations and actions, i.e. environments more general than (PO)MDPs. The task for an agent is to attain…

In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…

Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the…

Safety is essential for reinforcement learning (RL) applied in real-world situations. Chance constraints are suitable to represent the safety requirements in stochastic systems. Previous chance-constrained RL methods usually have a low…

The theory of learning in games has extensively studied situations where agents respond dynamically to each other by optimizing a fixed utility function. However, in many settings of interest, agent utility functions themselves vary as a…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

Reinforcement learning (RL) has recently achieved tremendous successes in many artificial intelligence applications. Many of the forefront applications of RL involve multiple agents, e.g., playing chess and Go games, autonomous driving, and…