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08/29/2023
Policy composition in reinforcement learning via multi-objective policy optimization
We enable reinforcement learning agents to learn successful behavior pol...
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07/18/2023
Towards A Unified Agent with Foundation Models
Language Models and Vision Language Models have recently demonstrated un...
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06/20/2023
RoboCat: A Self-Improving Foundation Agent for Robotic Manipulation
The ability to leverage heterogeneous robotic experience from different ...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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05/24/2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Animals have evolved various agile locomotion strategies, such as sprint...
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05/18/2023
A Generalist Dynamics Model for Control
We investigate the use of transformer sequence models as dynamics models...
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04/26/2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
We investigate whether Deep Reinforcement Learning (Deep RL) is able to ...
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04/13/2023
Lossless Adaptation of Pretrained Vision Models For Robotic Manipulation
Recent works have shown that large models pretrained on common visual le...
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02/24/2023
Leveraging Jumpy Models for Planning and Fast Learning in Robotic Domains
In this paper we study the problem of learning multi-step dynamics predi...
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12/28/2022
Representation Learning in Deep RL via Discrete Information Bottleneck
Several self-supervised representation learning methods have been propos...
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11/24/2022
SkillS: Adaptive Skill Sequencing for Efficient Temporally-Extended Exploration
The ability to effectively reuse prior knowledge is a key requirement wh...
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10/10/2022
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields
We present a system for applying sim2real approaches to "in the wild" sc...
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10/04/2022
Stateful active facilitator: Coordination and Environmental Heterogeneity in Cooperative Multi-Agent Reinforcement Learning
In cooperative multi-agent reinforcement learning, a team of agents work...
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09/05/2022
MO2: Model-Based Offline Options
The ability to discover useful behaviours from past experience and trans...
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05/31/2022
Simplex NeuPL: Any-Mixture Bayes-Optimality in Symmetric Zero-sum Games
Learning to play optimally against any mixture over a diverse set of str...
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05/23/2022
Data augmentation for efficient learning from parametric experts
We present a simple, yet powerful data-augmentation technique to enable ...
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05/21/2022
Coordinating Policies Among Multiple Agents via an Intelligent Communication Channel
In Multi-Agent Reinforcement Learning (MARL), specialized channels are o...
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05/12/2022
A Generalist Agent
Inspired by progress in large-scale language modeling, we apply a simila...
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04/21/2022
Revisiting Gaussian mixture critics in off-policy reinforcement learning: a sample-based approach
Actor-critic algorithms that make use of distributional policy evaluatio...
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04/19/2022
COptiDICE: Offline Constrained Reinforcement Learning via Stationary Distribution Correction Estimation
We consider the offline constrained reinforcement learning (RL) problem,...
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04/12/2022
Offline Distillation for Robot Lifelong Learning with Imbalanced Experience
Robots will experience non-stationary environment dynamics throughout th...
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03/31/2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
We investigate the use of prior knowledge of human and animal movement t...
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02/17/2022
Retrieval-Augmented Reinforcement Learning
Most deep reinforcement learning (RL) algorithms distill experience into...
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02/15/2022
NeuPL: Neural Population Learning
Learning in strategy games (e.g. StarCraft, poker) requires the discover...
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12/09/2021
Learning Transferable Motor Skills with Hierarchical Latent Mixture Policies
For robots operating in the real world, it is desirable to learn reusabl...
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10/30/2021
Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
Dynamic quadruped locomotion over challenging terrains with precise foot...
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10/08/2021
Offline Meta-Reinforcement Learning for Industrial Insertion
Reinforcement learning (RL) can in principle make it possible for robots...
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10/07/2021
Evaluating model-based planning and planner amortization for continuous control
There is a widespread intuition that model-based control methods should ...
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09/29/2021
Learning Dynamics Models for Model Predictive Agents
Model-Based Reinforcement Learning involves learning a dynamics model fr...
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09/17/2021
Is Curiosity All You Need? On the Utility of Emergent Behaviours from Curious Exploration
Curiosity-based reward schemes can present powerful exploration mechanis...
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08/23/2021
Collect Infer – a fresh look at data-efficient Reinforcement Learning
This position paper proposes a fresh look at Reinforcement Learning (RL)...
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06/15/2021
On Multi-objective Policy Optimization as a Tool for Reinforcement Learning
Many advances that have improved the robustness and efficiency of deep r...
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05/25/2021
From Motor Control to Team Play in Simulated Humanoid Football
Intelligent behaviour in the physical world exhibits structure at multip...
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03/02/2021
Neural Production Systems
Visual environments are structured, consisting of distinct objects or en...
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11/18/2020
Counterfactual Credit Assignment in Model-Free Reinforcement Learning
Credit assignment in reinforcement learning is the problem of measuring ...
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11/18/2020
Game Plan: What AI can do for Football, and What Football can do for AI
The rapid progress in artificial intelligence (AI) and machine learning ...
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10/27/2020
Behavior Priors for Efficient Reinforcement Learning
As we deploy reinforcement learning agents to solve increasingly challen...
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10/20/2020
Robust Constrained Reinforcement Learning for Continuous Control with Model Misspecification
Many real-world physical control systems are required to satisfy constra...
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10/16/2020
Learning Dexterous Manipulation from Suboptimal Experts
Learning dexterous manipulation in high-dimensional state-action spaces ...
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10/12/2020
Local Search for Policy Iteration in Continuous Control
We present an algorithm for local, regularized, policy improvement in re...
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10/03/2020
Beyond Tabula-Rasa: a Modular Reinforcement Learning Approach for Physically Embedded 3D Sokoban
Intelligent robots need to achieve abstract objectives using concrete, s...
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09/30/2020
Learning to swim in potential flow
Fish swim by undulating their bodies. These propulsive motions require c...
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09/11/2020
Physically Embedded Planning Problems: New Challenges for Reinforcement Learning
Recent work in deep reinforcement learning (RL) has produced algorithms ...
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09/10/2020
Importance Weighted Policy Learning and Adaption
The ability to exploit prior experience to solve novel problems rapidly ...
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09/03/2020
Action and Perception as Divergence Minimization
We introduce a unified objective for action and perception of intelligen...
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08/06/2020
Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion
Modern Reinforcement Learning (RL) algorithms promise to solve difficult...
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07/30/2020
Data-efficient Hindsight Off-policy Option Learning
Solutions to most complex tasks can be decomposed into simpler, intermed...
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06/26/2020
Critic Regularized Regression
Offline reinforcement learning (RL), also known as batch RL, offers the ...
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06/24/2020
RL Unplugged: Benchmarks for Offline Reinforcement Learning
Offline methods for reinforcement learning have the potential to help br...
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06/22/2020