相关论文: Learning Policy Committees for Effective Personali…

Multi-Task Learning is a learning paradigm that uses correlated tasks to improve performance generalization. A common way to learn multiple tasks is through the hard parameter sharing approach, in which a single architecture is used to…

Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

Credit assignment in Meta-reinforcement learning (Meta-RL) is still poorly understood. Existing methods either neglect credit assignment to pre-adaptation behavior or implement it naively. This leads to poor sample-efficiency during…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Optimization of decision problems in stochastic environments is usually concerned with maximizing the probability of achieving the goal and minimizing the expected episode length. For interacting agents in time-critical applications,…

Robust reinforcement learning (RL) aims to find a policy that optimizes the worst-case performance in the face of uncertainties. In this paper, we focus on action robust RL with the probabilistic policy execution uncertainty, in which,…

When solving long-horizon tasks, it is intriguing to decompose the high-level task into subtasks. Decomposing experiences into reusable subtasks can improve data efficiency, accelerate policy generalization, and in general provide promising…

Meta-learning for few-shot learning entails acquiring a prior over previous tasks and experiences, such that new tasks be learned from small amounts of data. However, a critical challenge in few-shot learning is task ambiguity: even when a…

We study few-shot learning in natural language domains. Compared to many existing works that apply either metric-based or optimization-based meta-learning to image domain with low inter-task variance, we consider a more realistic setting,…

In multi-task reinforcement learning (RL) under Markov decision processes (MDPs), the presence of shared latent structures among multiple MDPs has been shown to yield significant benefits to the sample efficiency compared to single-task RL.…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

We revisit the identification of an $\varepsilon$-optimal policy in average-reward Markov Decision Processes (MDP). In such MDPs, two measures of complexity have appeared in the literature: the diameter, $D$, and the optimal bias span, $H$,…

The key to reconciling the polynomial-time intractability of many machine learning tasks in the worst case with the surprising solvability of these tasks by heuristic algorithms in practice seems to be exploiting restrictions on real-world…

Conventional reinforcement learning (RL) methods can successfully solve a wide range of sequential decision problems. However, learning policies that can generalize predictably across multiple tasks in a setting with non-Markovian reward…

We present the first finite-sample analysis of policy evaluation in robust average-reward Markov Decision Processes (MDPs). Prior work in this setting have established only asymptotic convergence guarantees, leaving open the question of…

Reinforcement learning (RL) has enabled major advances in fields such as robotics and natural language processing. A key challenge in RL is measuring task complexity, which is essential for creating meaningful benchmarks and designing…

We observe that several existing policy gradient methods (such as vanilla policy gradient, PPO, A2C) may suffer from overly large gradients when the current policy is close to deterministic (even in some very simple environments), leading…

The monolithic approach to policy representation in Markov Decision Processes (MDPs) looks for a single policy that can be represented as a function from states to actions. For the monolithic approach to succeed (and this is not always…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…