相关论文: General Dynamic Goal Recognition using Goal-Condit…

As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and…

Goal-models (GM) have been used in adaptive systems engineering for their ability to capture the different ways to fulfill the requirements. Contextual GM (CGM) extend these models with the notion of context and context-dependent…

Self-supervision has the potential to transform reinforcement learning (RL), paralleling the breakthroughs it has enabled in other areas of machine learning. While self-supervised learning in other domains aims to find patterns in a fixed…

Deep reinforcement learning (DRL) has seen remarkable success in the control of single robots. However, applying DRL to robot swarms presents significant challenges. A critical challenge is non-stationarity, which occurs when two or more…

General-purpose robotic manipulation, including reach and grasp, is essential for deployment into households and workspaces involving diverse and evolving tasks. Recent advances propose using large pre-trained models, such as Large Language…

Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…

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,…

In reinforcement learning, we often define goals by specifying rewards within desirable states. One problem with this approach is that we typically need to redefine the rewards each time the goal changes, which often requires some…

Developing intelligent agents capable of operating a wide range of Graphical User Interfaces (GUIs) with human-level proficiency is a key milestone on the path toward Artificial General Intelligence. While most existing datasets and…

We present a novel two-layer hierarchical reinforcement learning approach equipped with a Goals Relational Graph (GRG) for tackling the partially observable goal-driven task, such as goal-driven visual navigation. Our GRG captures the…

Goal-Conditioned Reinforcement Learning (GCRL) provides a versatile framework for developing unified controllers capable of handling wide ranges of tasks, exploring environments, and adapting behaviors. However, its reliance on…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements…

Reinforcement Learning has revolutionized decision-making processes in dynamic environments, yet it often struggles with autonomously detecting and achieving goals without clear feedback signals. For example, in a Source Term Estimation…

Two key challenges within Reinforcement Learning involve improving (a) agent learning within environments with sparse extrinsic rewards and (b) the explainability of agent actions. We describe a curious subgoal focused agent to address both…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

Reinforcement learning (RL) excels in various applications but struggles in dynamic environments where the underlying Markov decision process evolves. Continual reinforcement learning (CRL) enables RL agents to continually learn and adapt…

Reinforcement Learning (RL) is increasingly applied to large-scale decision-making problems like logistics, scheduling, and recommender systems, but existing algorithms struggle with the curse of dimensionality in such large discrete action…

Gait recognition (GR) is a growing biometric modality used for person identification from a distance through visual cameras. GR provides a secure and reliable alternative to fingerprint and face recognition, as it is harder to distinguish…

Deep Reinforcement Learning (RL) is successful in solving many complex Markov Decision Processes (MDPs) problems. However, agents often face unanticipated environmental changes after deployment in the real world. These changes are often…