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Offline Meta-Reinforcement Learning for Industrial Insertion


Oct 12, 2021
Tony Z. Zhao, Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Nicolas Heess, Jon Scholz, Stefan Schaal, Sergey Levine


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Evaluating model-based planning and planner amortization for continuous control


Oct 07, 2021
Arunkumar Byravan, Leonard Hasenclever, Piotr Trochim, Mehdi Mirza, Alessandro Davide Ialongo, Yuval Tassa, Jost Tobias Springenberg, Abbas Abdolmaleki, Nicolas Heess, Josh Merel, Martin Riedmiller

* 9 pages main text, 30 pages with references and appendix including several ablations and additional experiments. Submitted to ICLR 2022 

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Learning Dynamics Models for Model Predictive Agents


Sep 29, 2021
Michael Lutter, Leonard Hasenclever, Arunkumar Byravan, Gabriel Dulac-Arnold, Piotr Trochim, Nicolas Heess, Josh Merel, Yuval Tassa


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Is Curiosity All You Need? On the Utility of Emergent Behaviours from Curious Exploration


Sep 17, 2021
Oliver Groth, Markus Wulfmeier, Giulia Vezzani, Vibhavari Dasagi, Tim Hertweck, Roland Hafner, Nicolas Heess, Martin Riedmiller

* 14 pages, 7 figures, 2 tables 

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Collect & Infer -- a fresh look at data-efficient Reinforcement Learning


Aug 23, 2021
Martin Riedmiller, Jost Tobias Springenberg, Roland Hafner, Nicolas Heess


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On Multi-objective Policy Optimization as a Tool for Reinforcement Learning


Jun 15, 2021
Abbas Abdolmaleki, Sandy H. Huang, Giulia Vezzani, Bobak Shahriari, Jost Tobias Springenberg, Shruti Mishra, Dhruva TB, Arunkumar Byravan, Konstantinos Bousmalis, Andras Gyorgy, Csaba Szepesvari, Raia Hadsell, Nicolas Heess, Martin Riedmiller


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From Motor Control to Team Play in Simulated Humanoid Football


May 25, 2021
Siqi Liu, Guy Lever, Zhe Wang, Josh Merel, S. M. Ali Eslami, Daniel Hennes, Wojciech M. Czarnecki, Yuval Tassa, Shayegan Omidshafiei, Abbas Abdolmaleki, Noah Y. Siegel, Leonard Hasenclever, Luke Marris, Saran Tunyasuvunakool, H. Francis Song, Markus Wulfmeier, Paul Muller, Tuomas Haarnoja, Brendan D. Tracey, Karl Tuyls, Thore Graepel, Nicolas Heess


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Neural Production Systems


Mar 02, 2021
Anirudh Goyal, Aniket Didolkar, Nan Rosemary Ke, Charles Blundell, Philippe Beaudoin, Nicolas Heess, Michael Mozer, Yoshua Bengio


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Counterfactual Credit Assignment in Model-Free Reinforcement Learning


Nov 18, 2020
Thomas Mesnard, Théophane Weber, Fabio Viola, Shantanu Thakoor, Alaa Saade, Anna Harutyunyan, Will Dabney, Tom Stepleton, Nicolas Heess, Arthur Guez, Marcus Hutter, Lars Buesing, Rémi Munos


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Game Plan: What AI can do for Football, and What Football can do for AI


Nov 18, 2020
Karl Tuyls, Shayegan Omidshafiei, Paul Muller, Zhe Wang, Jerome Connor, Daniel Hennes, Ian Graham, William Spearman, Tim Waskett, Dafydd Steele, Pauline Luc, Adria Recasens, Alexandre Galashov, Gregory Thornton, Romuald Elie, Pablo Sprechmann, Pol Moreno, Kris Cao, Marta Garnelo, Praneet Dutta, Michal Valko, Nicolas Heess, Alex Bridgland, Julien Perolat, Bart De Vylder, Ali Eslami, Mark Rowland, Andrew Jaegle, Remi Munos, Trevor Back, Razia Ahamed, Simon Bouton, Nathalie Beauguerlange, Jackson Broshear, Thore Graepel, Demis Hassabis


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Behavior Priors for Efficient Reinforcement Learning


Oct 27, 2020
Dhruva Tirumala, Alexandre Galashov, Hyeonwoo Noh, Leonard Hasenclever, Razvan Pascanu, Jonathan Schwarz, Guillaume Desjardins, Wojciech Marian Czarnecki, Arun Ahuja, Yee Whye Teh, Nicolas Heess

* Submitted to Journal of Machine Learning Research (JMLR) 

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Robust Constrained Reinforcement Learning for Continuous Control with Model Misspecification


Oct 20, 2020
Daniel J. Mankowitz, Dan A. Calian, Rae Jeong, Cosmin Paduraru, Nicolas Heess, Sumanth Dathathri, Martin Riedmiller, Timothy Mann


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Learning Dexterous Manipulation from Suboptimal Experts


Oct 16, 2020
Rae Jeong, Jost Tobias Springenberg, Jackie Kay, Daniel Zheng, Yuxiang Zhou, Alexandre Galashov, Nicolas Heess, Francesco Nori


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Local Search for Policy Iteration in Continuous Control


Oct 12, 2020
Jost Tobias Springenberg, Nicolas Heess, Daniel Mankowitz, Josh Merel, Arunkumar Byravan, Abbas Abdolmaleki, Jackie Kay, Jonas Degrave, Julian Schrittwieser, Yuval Tassa, Jonas Buchli, Dan Belov, Martin Riedmiller


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Temporal Difference Uncertainties as a Signal for Exploration


Oct 05, 2020
Sebastian Flennerhag, Jane X. Wang, Pablo Sprechmann, Francesco Visin, Alexandre Galashov, Steven Kapturowski, Diana L. Borsa, Nicolas Heess, Andre Barreto, Razvan Pascanu

* 8 pages, 11 figures, 5 tables 

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Action and Perception as Divergence Minimization


Oct 05, 2020
Danijar Hafner, Pedro A. Ortega, Jimmy Ba, Thomas Parr, Karl Friston, Nicolas Heess

* 14 pages, 10 figures, 2 tables 

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Beyond Tabula-Rasa: a Modular Reinforcement Learning Approach for Physically Embedded 3D Sokoban


Oct 03, 2020
Peter Karkus, Mehdi Mirza, Arthur Guez, Andrew Jaegle, Timothy Lillicrap, Lars Buesing, Nicolas Heess, Theophane Weber


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Learning to swim in potential flow


Sep 30, 2020
Yusheng Jiao, Feng Ling, Sina Heydari, Nicolas Heess, Josh Merel, Eva Kanso


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Physically Embedded Planning Problems: New Challenges for Reinforcement Learning


Sep 11, 2020
Mehdi Mirza, Andrew Jaegle, Jonathan J. Hunt, Arthur Guez, Saran Tunyasuvunakool, Alistair Muldal, Théophane Weber, Peter Karkus, Sébastien Racanière, Lars Buesing, Timothy Lillicrap, Nicolas Heess


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Importance Weighted Policy Learning and Adaption


Sep 10, 2020
Alexandre Galashov, Jakub Sygnowski, Guillaume Desjardins, Jan Humplik, Leonard Hasenclever, Rae Jeong, Yee Whye Teh, Nicolas Heess


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Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion


Aug 06, 2020
Roland Hafner, Tim Hertweck, Philipp Klöppner, Michael Bloesch, Michael Neunert, Markus Wulfmeier, Saran Tunyasuvunakool, Nicolas Heess, Martin Riedmiller


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Data-efficient Hindsight Off-policy Option Learning


Jul 30, 2020
Markus Wulfmeier, Dushyant Rao, Roland Hafner, Thomas Lampe, Abbas Abdolmaleki, Tim Hertweck, Michael Neunert, Dhruva Tirumala, Noah Siegel, Nicolas Heess, Martin Riedmiller


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RL Unplugged: Benchmarks for Offline Reinforcement Learning


Jul 02, 2020
Caglar Gulcehre, Ziyu Wang, Alexander Novikov, Tom Le Paine, Sergio Gomez Colmenarejo, Konrad Zolna, Rishabh Agarwal, Josh Merel, Daniel Mankowitz, Cosmin Paduraru, Gabriel Dulac-Arnold, Jerry Li, Mohammad Norouzi, Matt Hoffman, Ofir Nachum, George Tucker, Nicolas Heess, Nando de Freitas

* 21 pages including supplementary material, the github link for the datasets: https://github.com/deepmind/deepmind-research/rl_unplugged 

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Critic Regularized Regression


Jun 26, 2020
Ziyu Wang, Alexander Novikov, Konrad Żołna, Jost Tobias Springenberg, Scott Reed, Bobak Shahriari, Noah Siegel, Josh Merel, Caglar Gulcehre, Nicolas Heess, Nando de Freitas

* 23 pages 

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dm_control: Software and Tasks for Continuous Control


Jun 22, 2020
Yuval Tassa, Saran Tunyasuvunakool, Alistair Muldal, Yotam Doron, Siqi Liu, Steven Bohez, Josh Merel, Tom Erez, Timothy Lillicrap, Nicolas Heess

* arXiv admin note: text overlap with arXiv:1801.00690 

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Simple Sensor Intentions for Exploration


May 15, 2020
Tim Hertweck, Martin Riedmiller, Michael Bloesch, Jost Tobias Springenberg, Noah Siegel, Markus Wulfmeier, Roland Hafner, Nicolas Heess


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A Distributional View on Multi-Objective Policy Optimization


May 15, 2020
Abbas Abdolmaleki, Sandy H. Huang, Leonard Hasenclever, Michael Neunert, H. Francis Song, Martina Zambelli, Murilo F. Martins, Nicolas Heess, Raia Hadsell, Martin Riedmiller


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Divide-and-Conquer Monte Carlo Tree Search For Goal-Directed Planning


Apr 23, 2020
Giambattista Parascandolo, Lars Buesing, Josh Merel, Leonard Hasenclever, John Aslanides, Jessica B. Hamrick, Nicolas Heess, Alexander Neitz, Theophane Weber


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