相关论文: Focused Skill Discovery: Learning to Control Speci…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

In this paper, we explore an approach to auxiliary task discovery in reinforcement learning based on ideas from representation learning. Auxiliary tasks tend to improve data efficiency by forcing the agent to learn auxiliary prediction and…

Stability is a basic requirement when studying the behavior of dynamical systems. However, stabilizing dynamical systems via reinforcement learning is challenging because only little data can be collected over short time horizons before…

A key challenge in the field of reinforcement learning is to develop agents that behave cautiously in novel situations. It is generally impossible to anticipate all situations that an autonomous system may face or what behavior would best…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Safety is a critical feature of controller design for physical systems. When designing control policies, several approaches to guarantee this aspect of autonomy have been proposed, such as robust controllers or control barrier functions.…

The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…

Recent advancements in meta-learning have enabled the automatic discovery of novel reinforcement learning algorithms parameterized by surrogate objective functions. To improve upon manually designed algorithms, the parameterization of this…

We consider an online regression setting in which individuals adapt to the regression model: arriving individuals are aware of the current model, and invest strategically in modifying their own features so as to improve the predicted score…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…

In this paper we introduce a new unsupervised reinforcement learning method for discovering the set of intrinsic options available to an agent. This set is learned by maximizing the number of different states an agent can reliably reach, as…

Traditional controllers have limitations as they rely on prior knowledge about the physics of the problem, require modeling of dynamics, and struggle to adapt to abnormal situations. Deep reinforcement learning has the potential to address…

This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…

A central challenge in reinforcement learning is discovering effective policies for tasks where rewards are sparsely distributed. We postulate that in the absence of useful reward signals, an effective exploration strategy should seek out…

Reinforcement learning is an essential paradigm for solving sequential decision problems under uncertainty. Despite many remarkable achievements in recent decades, applying reinforcement learning methods in the real world remains…

When developing reinforcement learning agents, the standard approach is to train an agent to converge to a fixed policy that is as close to optimal as possible for a single fixed reward function. If different agent behaviour is required in…

When users can benefit from certain predictive outcomes, they may be prone to act to achieve those outcome, e.g., by strategically modifying their features. The goal in strategic classification is therefore to train predictive models that…

Learning requires the traversal of inherently distinct cognitive states to produce behavioral adaptation. Yet, tools to explicitly measure these states with non-invasive imaging -- and to assess their dynamics during learning -- remain…