7 accepted papers
Incorporating inductive biases is a promising approach for tackling challenging robot learning domains with sample-efficient solutions. This paper identifies partially observable domains where symmetries can be a useful inductive bias for efficient learning. Specifically, by encoding the equivarianc…
Centralized Training for Decentralized Execution, where training is done in a centralized offline fashion, has become a popular solution paradigm in Multi-Agent Reinforcement Learning. Many such methods take the form of actor-critic with state-based critics, since centralized training allows access…
Offline training in simulated partially observable environments allows reinforcement learning methods to exploit privileged state information through a mechanism known as asymmetry. Such privileged information has the potential to greatly improve the optimal convergence properties, if used appropria…
Reinforcement learning in partially observable domains is challenging due to the lack of observable state information. Thankfully, learning offline in a simulator with such state information is often possible. In particular, we propose a method for partially observable reinforcement learning that us…
Predictive state representations (PSRs) are models of controlled non-Markov observation sequences which exhibit the same generative process governing POMDP observations without relying on an underlying latent state. In that respect, a PSR is indistinguishable from the corresponding POMDP.…
This paper presents a novel approach for robot instruction for assembly tasks. We consider that robot programming can be made more efficient, precise and intuitive if we leverage the advantages of complementary approaches such as learning from demonstration, learning from feedback and knowledge tran…
We consider the problem of learning from complex sequential demonstrations. We propose to analyze demonstrations in terms of the concurrent interaction phases which arise between pairs of involved bodies (hand-object and object-object). These interaction phases are the key to decompose a full demons…