相关论文: Causality-Based Reinforcement Learning Method for …

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However,…

Deep learning implemented via neural networks, has revolutionized machine learning by providing methods for complex tasks such as object detection/classification and prediction. However, architectures based on deep neural networks have…

With the increasing presence of robotic systems and human-robot environments in today's society, understanding the reasoning behind actions taken by a robot is becoming more important. To increase this understanding, users are provided with…

Cascading failures in power grids can lead to grid collapse, causing severe disruptions to social operations and economic activities. In certain cases, multi-stage cascading failures can occur. However, existing cascading-failure-mitigation…

We study a class of reinforcement learning (RL) tasks where the objective of the agent is to accomplish temporally extended goals. In this setting, a common approach is to represent the tasks as deterministic finite automata (DFA) and…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…

Reinforcement learning (RL) shows great potential for optimizing multi-vehicle cooperative driving strategies through the state-action-reward feedback loop, but it still faces challenges such as low sample efficiency. This paper proposes a…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

Task allocation is a key combinatorial optimization problem, crucial for modern applications such as multi-robot cooperation and resource scheduling. Decision makers must allocate entities to tasks reasonably across different scenarios.…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

Deep Learning has become interestingly popular in computer vision, mostly attaining near or above human-level performance in various vision tasks. But recent work has also demonstrated that these deep neural networks are very vulnerable to…

Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains…

Discovering causal structure among a set of variables is a fundamental problem in many empirical sciences. Traditional score-based casual discovery methods rely on various local heuristics to search for a Directed Acyclic Graph (DAG)…

Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…

Reinforcement learning is a machine learning approach based on behavioral psychology. It is focused on learning agents that can acquire knowledge and learn to carry out new tasks by interacting with the environment. However, a problem…

In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for individual robots. To mitigate these challenges, this paper…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

Many strategic decision-making problems, such as environment design for warehouse robots, can be naturally formulated as bi-level reinforcement learning (RL), where a leader agent optimizes its objective while a follower solves a Markov…