相关论文: Learning Future Representation with Synthetic Obse…

We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a…

This paper introduces a novel method for self-supervised video representation learning via feature prediction. In contrast to the previous methods that focus on future feature prediction, we argue that a supervisory signal arising from…

Self-supervised learning (SSL) aims to eliminate one of the major bottlenecks in representation learning - the need for human annotations. As a result, SSL holds the promise to learn representations from data in-the-wild, i.e., without the…

We investigate the impact of auxiliary learning tasks such as observation reconstruction and latent self-prediction on the representation learning problem in reinforcement learning. We also study how they interact with distractions and…

Reinforcement learning (RL) is challenging in the common case of delays between events and their sensory perceptions. State-of-the-art (SOTA) state augmentation techniques either suffer from state space explosion or performance degeneration…

Model-based reinforcement learning (RL) has proven to be a data efficient approach for learning control tasks but is difficult to utilize in domains with complex observations such as images. In this paper, we present a method for learning…

Learning a good representation is an essential component for deep reinforcement learning (RL). Representation learning is especially important in multitask and partially observable settings where building a representation of the unknown…

Recent work on few-shot learning \cite{tian2020rethinking} showed that quality of learned representations plays an important role in few-shot classification performance. On the other hand, the goal of self-supervised learning is to recover…

In streaming Reinforcement Learning (RL), transitions are observed and discarded immediately after a single update. While this minimizes resource usage for on-device applications, it makes agents notoriously sample-inefficient, since…

Reinforcement learning (RL) has achieved remarkable success in real-world decision-making across diverse domains, including gaming, robotics, online advertising, public health, and natural language processing. Despite these advances, a…

Multi-View Reinforcement Learning (MVRL) seeks to provide agents with multi-view observations, enabling them to perceive environment with greater effectiveness and precision. Recent advancements in MVRL focus on extracting latent…

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 this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

We seek to understand what facilitates sample-efficient learning from historical datasets for sequential decision-making, a problem that is popularly known as offline reinforcement learning (RL). Further, we are interested in algorithms…

In many reinforcement learning (RL) applications, the observation space is specified by human developers and restricted by physical realizations, and may thus be subject to dramatic changes over time (e.g. increased number of observable…

Audio-visual speech recognition (AVSR) has gained remarkable success for ameliorating the noise-robustness of speech recognition. Mainstream methods focus on fusing audio and visual inputs to obtain modality-invariant representations.…

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…