相关论文: HarmoDT: Harmony Multi-Task Decision Transformer f…

The problem of offline reinforcement learning focuses on learning a good policy from a log of environment interactions. Past efforts for developing algorithms in this area have revolved around introducing constraints to online reinforcement…

Meta-reinforcement learning (Meta-RL) has attracted attention due to its capability to enhance reinforcement learning (RL) algorithms, in terms of data efficiency and generalizability. In this paper, we develop a bilevel optimization…

A major challenge of reinforcement learning (RL) in real-world applications is the variation between environments, tasks or clients. Meta-RL (MRL) addresses this issue by learning a meta-policy that adapts to new tasks. Standard MRL methods…

Multi-task learning (MTL) is to learn one single model that performs multiple tasks for achieving good performance on all tasks and lower cost on computation. Learning such a model requires to jointly optimize losses of a set of tasks with…

Autonomous vehicles need to handle various traffic conditions and make safe and efficient decisions and maneuvers. However, on the one hand, a single optimization/sampling-based motion planner cannot efficiently generate safe trajectories…

Despite the promise of Multi-Task Learning in leveraging complementary knowledge across tasks, existing multi-task optimization (MTO) techniques remain fixated on resolving conflicts via optimizer-centric loss scaling and gradient…

The framework of mixed observable Markov decision processes (MOMDP) models many robotic domains in which some state variables are fully observable while others are not. In this work, we identify a significant subclass of MOMDPs defined by…

Multi-task learning (MTL) is a subfield of machine learning in which multiple tasks are simultaneously learned by a shared model. Such approaches offer advantages like improved data efficiency, reduced overfitting through shared…

Multi-task reinforcement learning (RL) aims to find a single policy that effectively solves multiple tasks at the same time. This paper presents a constrained formulation for multi-task RL where the goal is to maximize the average…

Exploring sparse reward multi-agent reinforcement learning (MARL) environments with traps in a collaborative manner is a complex task. Agents typically fail to reach the goal state and fall into traps, which affects the overall performance…

Multi-task reinforcement learning endeavors to accomplish a set of different tasks with a single policy. To enhance data efficiency by sharing parameters across multiple tasks, a common practice segments the network into distinct modules…

Sequential decision making in the real world often requires finding a good balance of conflicting objectives. In general, there exist a plethora of Pareto-optimal policies that embody different patterns of compromises between objectives,…

Multi-task learning (MTL) is an inductive transfer mechanism designed to leverage useful information from multiple tasks to improve generalization performance compared to single-task learning. It has been extensively explored in traditional…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

This paper proposes a momentum-constrained hybrid heuristic trajectory optimization framework (MHHTOF) tailored for assistive navigation in visually impaired scenarios, integrating trajectory sampling generation, optimization and evaluation…

Transfer Learning has shown great potential to enhance single-agent Reinforcement Learning (RL) efficiency. Similarly, Multiagent RL (MARL) can also be accelerated if agents can share knowledge with each other. However, it remains a problem…

In order to create machine learning systems that serve a variety of users well, it is vital to not only achieve high average performance but also ensure equitable outcomes across diverse groups. However, most machine learning methods are…

Online safe reinforcement learning (RL) involves training a policy that maximizes task efficiency while satisfying constraints via interacting with the environments. In this paper, our focus lies in addressing the complex challenges…

This work introduces the Multimodal Diffusion Transformer (MDT), a novel diffusion policy framework, that excels at learning versatile behavior from multimodal goal specifications with few language annotations. MDT leverages a…

Offline meta-reinforcement learning (OMRL) utilizes pre-collected offline datasets to enhance the agent's generalization ability on unseen tasks. However, the context shift problem arises due to the distribution discrepancy between the…