相关论文: Contextual Multi-Task Reinforcement Learning for A…

The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

This study investigates a method to guide and control fish schools using virtual fish trained with reinforcement learning. We utilize 2D virtual fish displayed on a screen to overcome technical challenges such as durability and movement…

Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also actively looking for strategies to overtake/stay ahead of the…

Deep reinforcement learning algorithms require large amounts of experience to learn an individual task. While in principle meta-reinforcement learning (meta-RL) algorithms enable agents to learn new skills from small amounts of experience,…

While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems without considering the safety constraints. The later are crucial…

The advent of deep learning has inspired research into end-to-end learning for a variety of problem domains in robotics. For navigation, the resulting methods may not have the generalization properties desired let alone match the…

Context detection involves labeling segments of an online stream of data as belonging to different tasks. Task labels are used in lifelong learning algorithms to perform consolidation or other procedures that prevent catastrophic…

Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenarios. However, these specialized policies often struggle with…

In safe offline reinforcement learning (RL), the objective is to develop a policy that maximizes cumulative rewards while strictly adhering to safety constraints, utilizing only offline data. Traditional methods often face difficulties in…

Most existing sensor-based monitoring frameworks presume that a large available labeled dataset is processed to train accurate detection models. However, in settings where personalization is necessary at deployment time to fine-tune the…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

Reinforcement learning (RL) algorithms have demonstrated promising results on complex tasks, yet often require impractical numbers of samples since they learn from scratch. Meta-RL aims to address this challenge by leveraging experience…

We propose a framework for applying reinforcement learning to contextual two-stage stochastic optimization and apply this framework to the problem of energy market bidding of an off-shore wind farm. Reinforcement learning could potentially…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Deep reinforcement learning (RL), where the agent learns from mistakes, has been successfully applied to a variety of tasks. With the aim of learning collision-free policies for unmanned vehicles, deep RL has been used for training with…

Capturing latent variations ("contexts") is key to deploying reinforcement-learning (RL) agents beyond their training regime. We recast context-based RL as a dual inference-control problem and formally characterize two properties and their…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

Using reinforcement learning to learn control policies is a challenge when the task is complex with potentially long horizons. Ensuring adequate but safe exploration is also crucial for controlling physical systems. In this paper, we use…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…