相关论文: TLDR: Unsupervised Goal-Conditioned RL via Tempora…

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To…

Human Activity Recognition (HAR) using wearable sensors is crucial for healthcare, fitness tracking, and smart environments, yet cross-user variability -- stemming from diverse motion patterns, sensor placements, and physiological traits --…

Reward models are central to both reinforcement learning (RL) with language models and inference-time verification. However, existing reward models often lack temporal consistency, leading to ineffective policy updates and unstable RL…

Decision-making tasks often unfold on graphs with spatial-temporal dynamics. Black-box reinforcement learning often overlooks how local changes spread through network structure, limiting sample efficiency and interpretability. We present…

The recent mainstream reinforcement learning control for quadruped robots often relies on privileged information, demanding meticulous selection and precise estimation, thereby imposing constraints on the development process. This work…

Not having access to compact and meaningful representations is known to significantly increase the complexity of reinforcement learning (RL). For this reason, it can be useful to perform state representation learning (SRL) before tackling…

Learning a goal-oriented dialog policy is generally performed offline with supervised learning algorithms or online with reinforcement learning (RL). Additionally, as companies accumulate massive quantities of dialog transcripts between…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

Deep reinforcement learning has demonstrated remarkable achievements across diverse domains such as video games, robotic control, autonomous driving, and drug discovery. Common methodologies in partially-observable domains largely lean on…

Unsupervised reinforcement learning (URL) aims to pre-train agents by exploring diverse states or skills in reward-free environments, facilitating efficient adaptation to downstream tasks. As the agent cannot access extrinsic rewards during…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

The goal of offline reinforcement learning (RL) is to extract a high-performance policy from the fixed datasets, minimizing performance degradation due to out-of-distribution (OOD) samples. Offline model-based RL (MBRL) is a promising…

In this paper, we propose a model-free reinforcement learning method to synthesize control policies for motion planning problems with continuous states and actions. The robot is modelled as a labeled discrete-time Markov decision process…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Temporal knowledge graphs (TKGs) model the temporal evolution of events and have recently attracted increasing attention. Since TKGs are intrinsically incomplete, it is necessary to reason out missing elements. Although existing TKG…

Offline goal-conditioned RL (GCRL) offers a way to train general-purpose agents from fully offline datasets. In addition to being conservative within the dataset, the generalization ability to achieve unseen goals is another fundamental…

Intrinsically motivated goal exploration algorithms enable machines to discover repertoires of policies that produce a diversity of effects in complex environments. These exploration algorithms have been shown to allow real world robots to…

Reinforcement Learning (RL) has emerged as an efficient method of choice for solving complex sequential decision making problems in automatic control, computer science, economics, and biology. In this paper we present a model-free RL…

Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However autonomous traversal of confined 3D environments including…

Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…