相关论文: Scaling Tasks, Not Samples: Mastering Humanoid Con…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

In reinforcement learning (RL), an autonomous agent learns to perform complex tasks by maximizing an exogenous reward signal while interacting with its environment. In real-world applications, test conditions may differ substantially from…

At present, robots typically require extensive training to successfully accomplish a single task. However, to truly enhance their usefulness in real-world scenarios, robots should possess the capability to perform multiple tasks…

Multi-Agent Reinforcement Learning (MARL) provides a powerful framework for learning coordination in multi-agent systems. However, applying MARL to robotics still remains challenging due to high-dimensional continuous joint action spaces,…

As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing…

Deep reinforcement learning (DRL) frameworks are increasingly used to solve high-dimensional continuous control tasks in robotics. However, due to the lack of sample efficiency, applying DRL for online learning is still practically…

Model-based reinforcement learning promises strong sample efficiency but often underperforms in practice due to compounding model error, unimodal world models that average over multi-modal dynamics, and overconfident predictions that bias…

Mobile robots are increasingly being employed for performing complex tasks in dynamic environments. Reinforcement learning (RL) methods are recognized to be promising for specifying such tasks in a relatively simple manner. However, the…

Recent advances in multimodal reward modeling have been largely driven by a paradigm shift from discriminative to generative approaches. Building on this progress, recent studies have further employed reinforcement learning from verifiable…

Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations or unseen situations cause…

Reinforcement Learning (RL) has made significant strides in complex tasks but struggles in multi-task settings with different embodiments. World model methods offer scalability by learning a simulation of the environment but often rely on…

Deep reinforcement learning (DRL) is one promising approach to teaching robots to perform complex tasks. Because methods that directly reuse the stored experience data cannot follow the change of the environment in robotic problems with a…

To leverage the power of big data from source tasks and overcome the scarcity of the target task samples, representation learning based on multi-task pretraining has become a standard approach in many applications. However, up until now,…

Model-based reinforcement learning (MBRL) is believed to have much higher sample efficiency compared to model-free algorithms by learning a predictive model of the environment. However, the performance of MBRL highly relies on the quality…

Reinforcement learning (RL) is a sub-domain of machine learning, mainly concerned with solving sequential decision-making problems by a learning agent that interacts with the decision environment to improve its behavior through the reward…

Recent advances in large language models (LLMs) have sparked growing interest in building generalist agents that can learn through online interactions. However, applying reinforcement learning (RL) to train LLM agents in multi-turn,…

Reinforcement learning (RL) is an appealing paradigm for training intelligent agents, enabling policy acquisition from the agent's own autonomously acquired experience. However, the training process of RL is far from automatic, requiring…

Model-based reinforcement learning (MBRL) methods have shown strong sample efficiency and performance across a variety of tasks, including when faced with high-dimensional visual observations. These methods learn to predict the environment…

Continuously learning to solve unseen tasks with limited experience has been extensively pursued in meta-learning and continual learning, but with restricted assumptions such as accessible task distributions, independently and identically…

Typical multi-task learning (MTL) methods rely on architectural adjustments and a large trainable parameter set to jointly optimize over several tasks. However, when the number of tasks increases so do the complexity of the architectural…