相关论文: Efficient Multi-Task Reinforcement Learning with C…

Multitask Reinforcement Learning (MTRL) approaches have gained increasing attention for its wide applications in many important Reinforcement Learning (RL) tasks. However, while recent advancements in MTRL theory have focused on the…

Reinforcement learning requires interaction with an environment, which is expensive for robots. This constraint necessitates approaches that work with limited environmental interaction by maximizing the reuse of previous experiences. We…

Machine learning algorithms learn to solve a task, but are unable to improve their ability to learn. Meta-learning methods learn about machine learning algorithms and improve them so that they learn more quickly. However, existing…

Modular and composable transfer learning is an emerging direction in the field of Parameter Efficient Fine-Tuning, as it enables neural networks to better organize various aspects of knowledge, leading to improved cross-task generalization.…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Learning policies for complex tasks that require multiple different skills is a major challenge in reinforcement learning (RL). It is also a requirement for its deployment in real-world scenarios. This paper proposes a novel framework for…

Multi-task networks rely on effective parameter sharing to achieve robust generalization across tasks. In this paper, we present a novel parameter sharing method for multi-task learning that conditions parameter sharing on both the task and…

Recent studies have shown that neural models can achieve high performance on several sequence labelling/tagging problems without the explicit use of linguistic features such as part-of-speech (POS) tags. These models are trained only using…

Autonomous driving technology is poised to transform transportation systems. However, achieving safe and accurate multi-task decision-making in complex scenarios, such as unsignalized intersections, remains a challenge for autonomous…

As humans learn new skills and apply their existing knowledge while maintaining previously learned information, "continual learning" in machine learning aims to incorporate new data while retaining and utilizing past knowledge. However,…

Temporal sequential tasks challenge humanoid robots, as existing Diffusion Policy (DP) and Action Chunking with Transformers (ACT) methods often lack temporal context, resulting in local optima traps and excessive repetitive actions. To…

Multi-task learning can leverage information learned by one task to benefit the training of other tasks. Despite this capacity, naive formulations often degrade performance and in particular, identifying the tasks that would benefit from…

We study the estimation of policy gradients for continuous-time systems with known dynamics. By reframing policy learning in continuous-time, we show that it is possible construct a more efficient and accurate gradient estimator. The…

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,…

We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control output. The simulator Airsim's convenient weather and lighting…

Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent's individual intelligence as well as by collaborating and exploiting collective intelligence. This article considers a group of…

Reinforcement learning can greatly benefit from the use of options as a way of encoding recurring behaviours and to foster exploration. An important open problem is how can an agent autonomously learn useful options when solving particular…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

Our work focuses on training RL agents on multiple visually diverse environments to improve observational generalization performance. In prior methods, policy and value networks are separately optimized using a disjoint network architecture…

In industrial recommendation systems, multi-task learning (learning multiple tasks simultaneously on a single model) is a predominant approach to save training/serving resources and improve recommendation performance via knowledge transfer…