相关论文: Enhancing the Hierarchical Environment Design via …
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…
Large and diverse datasets have been the cornerstones of many impressive advancements in artificial intelligence. Intelligent creatures, however, learn by interacting with the environment, which changes the input sensory signals and the…
Curriculum learning allows complex tasks to be mastered via incremental progression over `stepping stone' goals towards a final desired behaviour. Typical implementations learn locomotion policies for challenging environments through…
Solving control tasks in complex environments automatically through learning offers great potential. While contemporary techniques from deep reinforcement learning (DRL) provide effective solutions, their decision-making is not transparent.…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
Many cooperative multiagent reinforcement learning environments provide agents with a sparse team-based reward, as well as a dense agent-specific reward that incentivizes learning basic skills. Training policies solely on the team-based…
Teaching an agent to navigate in an unseen 3D environment is a challenging task, even in the event of simulated environments. To generalize to unseen environments, an agent needs to be robust to low-level variations (e.g. color, texture,…
Robotic shepherding problem considers the control and navigation of a group of coherent agents (e.g., a flock of bird or a fleet of drones) through the motion of an external robot, called shepherd. Machine learning based methods have…
Recent advances in large language model (LLM) have empowered autonomous agents to perform multi-turn interactions with tools and environments. However, scaling such agent training is limited by the lack of diverse and reliable environments.…
Existing approaches for improving generalization in deep reinforcement learning (RL) have mostly focused on representation learning, neglecting RL-specific aspects such as exploration. We hypothesize that the agent's exploration strategy…
We develop Upside-Down Reinforcement Learning (UDRL), a method for learning to act using only supervised learning techniques. Unlike traditional algorithms, UDRL does not use reward prediction or search for an optimal policy. Instead, it…
A key barrier to using reinforcement learning (RL) in many real-world applications is the requirement of a large number of system interactions to learn a good control policy. Off-policy and Offline RL methods have been proposed to reduce…
Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…
Designing agents, capable of learning autonomously a wide range of skills is critical in order to increase the scope of reinforcement learning. It will both increase the diversity of learned skills and reduce the burden of manually…
Continual learning under adversarial conditions remains an open problem, as existing methods often compromise either robustness, scalability, or both. We propose a novel framework that integrates Interval Bound Propagation (IBP) with a…
Domain models enable autonomous agents to solve long-horizon tasks by producing interpretable plans. However, in open-world environments, a single general domain model cannot capture the variety of tasks, so agents must generate suitable…
Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown…
We offer a study that connects robust discriminative classifiers trained with adversarial training (AT) with generative modeling in the form of Energy-based Models (EBM). We do so by decomposing the loss of a discriminative classifier and…
Recent works have proven that intricate cooperative behaviors can emerge in agents trained using meta reinforcement learning on open ended task distributions using self-play. While the results are impressive, we argue that self-play and…
Dynamic mechanism design studies how mechanism designers should allocate resources among agents in a time-varying environment. We consider the problem where the agents interact with the mechanism designer according to an unknown Markov…