相关论文: Towards Control-Centric Representations in Reinfor…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…

Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay…

Humans learn quickly even in tasks that contain complex visual information. This is due in part to the efficient formation of compressed representations of visual information, allowing for better generalization and robustness. However,…

Reinforcement learning has been established over the past decade as an effective tool to find optimal control policies for dynamical systems, with recent focus on approaches that guarantee safety during the learning and/or execution phases.…

Hippocampal reverse replay is thought to contribute to learning, and particularly reinforcement learning, in animals. We present a computational model of learning in the hippocampus that builds on a previous model of the…

Conveying complex objectives to reinforcement learning (RL) agents can often be difficult, involving meticulous design of reward functions that are sufficiently informative yet easy enough to provide. Human-in-the-loop RL methods allow…

An important goal in deep learning is to learn versatile, high-level feature representations of input data. However, standard networks' representations seem to possess shortcomings that, as we illustrate, prevent them from fully realizing…

While reinforcement learning (RL) methods that learn an internal model of the environment have the potential to be more sample efficient than their model-free counterparts, learning to model raw observations from high dimensional sensors…

Trained classification models can unintentionally lead to biased representations and predictions, which can reinforce societal preconceptions and stereotypes. Existing debiasing methods for classification models, such as adversarial…

Mesh reconstruction from multi-view images is a fundamental problem in computer vision, but its performance degrades significantly under sparse-view conditions, especially in unseen regions where no ground-truth observations are available.…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Reinforcement learning (RL) faces substantial challenges when applied to real-life problems, primarily stemming from the scarcity of available data due to limited interactions with the environment. This limitation is exacerbated by the fact…

Meta-reinforcement learning (meta-RL) has proven to be a successful framework for leveraging experience from prior tasks to rapidly learn new related tasks, however, current meta-RL approaches struggle to learn in sparse reward…

We study the transfer of rewards learned using inverse reinforcement learning from expert demonstrations in one environment to reinforcement learning in a new, different environment. This arises naturally when demonstrations are collected…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Modern computer vision requires processing large amounts of data, both while training the model and/or during inference, once the model is deployed. Scenarios where images are captured and processed in physically separated locations are…

Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…

In many control problems that include vision, optimal controls can be inferred from the location of the objects in the scene. This information can be represented using feature points, which is a list of spatial locations in learned feature…

This paper discusses a system that accelerates reinforcement learning by using transfer from related tasks. Without such transfer, even if two tasks are very similar at some abstract level, an extensive re-learning effort is required. The…