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Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

In complex tasks where the reward function is not straightforward and consists of a set of objectives, multiple reinforcement learning (RL) policies that perform task adequately, but employ different strategies can be trained by adjusting…

In this paper, we propose and study opportunistic reinforcement learning - a new variant of reinforcement learning problems where the regret of selecting a suboptimal action varies under an external environmental condition known as the…

Unsupervised object-centric representation (OCR) learning has recently drawn attention as a new paradigm of visual representation. This is because of its potential of being an effective pre-training technique for various downstream tasks in…

Learning new task-specific skills from a few trials is a fundamental challenge for artificial intelligence. Meta reinforcement learning (meta-RL) tackles this problem by learning transferable policies that support few-shot adaptation to…

Multi-view methods learn representations by aligning multiple views of the same image and their performance largely depends on the choice of data augmentation. In this paper, we notice that some other useful augmentations, such as image…

An agent with an inaccurate model of its environment faces a difficult choice: it can ignore the errors in its model and act in the real world in whatever way it determines is optimal with respect to its model. Alternatively, it can take a…

As machine learning has moved towards leveraging large models as priors for downstream tasks, the community has debated the right form of prior for solving reinforcement learning (RL) problems. If one were to try to prefetch as much…

Assisted by the availability of data and high performance computing, deep learning techniques have achieved breakthroughs and surpassed human performance empirically in difficult tasks, including object recognition, speech recognition, and…

Adaptive robust optimization (ARO) extends static robust optimization by allowing decisions to depend on the realized uncertainty - weakly dominating static solutions within the modeled uncertainty set. However, ARO makes previous…

Reinforcement learning (RL) is a central problem in artificial intelligence. This problem consists of defining artificial agents that can learn optimal behaviour by interacting with an environment -- where the optimal behaviour is defined…

Online Reinforcement Learning (RL) is typically framed as the process of minimizing cumulative regret (CR) through interactions with an unknown environment. However, real-world RL applications usually involve a sequence of tasks, and the…

In visual Reinforcement Learning (RL), upstream representation learning largely determines the effect of downstream policy learning. Employing auxiliary tasks allows the agent to enhance visual representation in a targeted manner, thereby…

Counterfactual Regret Minimization (CRF) is a fundamental and effective technique for solving Imperfect Information Games (IIG). However, the original CRF algorithm only works for discrete state and action spaces, and the resulting strategy…

Recent deep reinforcement learning (DRL) successes rely on end-to-end learning from fixed-size observational inputs (e.g. image, state-variables). However, many challenging and interesting problems in decision making involve observations or…

Reinforcement Learning (RL) agents typically learn memoryless policies---policies that only consider the last observation when selecting actions. Learning memoryless policies is efficient and optimal in fully observable environments.…

Recently, various auxiliary tasks have been proposed to accelerate representation learning and improve sample efficiency in deep reinforcement learning (RL). However, existing auxiliary tasks do not take the characteristics of RL problems…

Reinforcement learning (RL) agents make decisions using nothing but observations from the environment, and consequently, heavily rely on the representations of those observations. Though some recent breakthroughs have used vector-based…

Deep reinforcement learning algorithms that learn policies by trial-and-error must learn from limited amounts of data collected by actively interacting with the environment. While many prior works have shown that proper regularization…

Representation learning, i.e. the generation of representations useful for downstream applications, is a task of fundamental importance that underlies much of the success of deep neural networks (DNNs). Recently, robustness to adversarial…