相关论文: SLR: Learning Quadruped Locomotion without Privile…

Reinforcement learning (RL) has shown great potential in enabling quadruped robots to perform agile locomotion. However, directly training policies to simultaneously handle dual extreme challenges, i.e., extreme underactuation and extreme…

Intelligent agents rely heavily on prior experience when learning a new task, yet most modern reinforcement learning (RL) approaches learn every task from scratch. One approach for leveraging prior knowledge is to transfer skills learned on…

Reinforcement learning (RL) is about sequential decision making and is traditionally opposed to supervised learning (SL) and unsupervised learning (USL). In RL, given the current state, the agent makes a decision that may influence the next…

This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…

Reinforcement learning (RL) is an effective approach for solving optimal control problems without knowing the exact information of the system model. However, the classical Q-learning method, a model-free RL algorithm, has its limitations,…

This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (RL)-based high-level (HL) policies for real-time gait…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Self-supervised learning (SSL) excels at finding general-purpose latent representations from complex data, yet lacks a unifying theoretical framework that explains the diverse existing methods and guides the design of new ones. We cast SSL…

Speech Emotion Recognition (SER) has seen significant progress with deep learning, yet remains challenging for Low-Resource Languages (LRLs) due to the scarcity of annotated data. In this work, we explore unsupervised learning to improve…

Conversational machine reading (CMR) tools have seen a rapid progress in the recent past. The current existing tools rely on the supervised learning technique which require labeled dataset for their training. The supervised technique…

Federated Learning (FL) is a privacy-preserving paradigm, allowing edge devices to learn collaboratively without sharing data. Edge devices like Alexa and Siri are prospective sources of unlabeled audio data that can be tapped to learn…

Deep reinforcement learning (RL) algorithms can use high-capacity deep networks to learn directly from image observations. However, these high-dimensional observation spaces present a number of challenges in practice, since the policy must…

Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable…

In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real world, and incorporate auxiliary data, such as…

This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

Achieving efficient and robust whole-body control (WBC) is essential for enabling humanoid robots to perform complex tasks in dynamic environments. Despite the success of reinforcement learning (RL) in this domain, its sample inefficiency…

Several self-supervised representation learning methods have been proposed for reinforcement learning (RL) with rich observations. For real-world applications of RL, recovering underlying latent states is crucial, particularly when sensory…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

In recent years, neural architecture-based recommender systems have achieved tremendous success, but they still fall short of expectation when dealing with highly sparse data. Self-supervised learning (SSL), as an emerging technique for…