Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This necessitates the use of fast and highly-parallelizable simulators. In addition to speed, such simulators need to model the physics of the robots and their interaction with the environment to a level acceptable for transferring policies learned in simulation to reality. We present QuadSwarm, a fast, reliable simulator for research in single and multi-robot RL for quadrotors that addresses both issues. QuadSwarm, with fast forward-dynamics propagation decoupled from rendering, is designed to be highly parallelizable such that throughput scales linearly with additional compute. It provides multiple components tailored toward multi-robot RL, including diverse training scenarios, and provides domain randomization to facilitate the development and sim2real transfer of multi-quadrotor control policies. Initial experiments suggest that QuadSwarm achieves over 48,500 simulation samples per second (SPS) on a single quadrotor and over 62,000 SPS on eight quadrotors on a 16-core CPU. The code can be found in https://github.com/Zhehui-Huang/quad-swarm-rl.

We describe a cognitive architecture intended to solve a wide range of problems based on the five identified principles of brain activity, with their implementation in three subsystems: logical-probabilistic inference, probabilistic formal concepts, and functional systems theory. Building an architecture involves the implementation of a task-driven approach that allows defining the target functions of applied applications as tasks formulated in terms of the operating environment corresponding to the task, expressed in the applied ontology. We provide a basic ontology for a number of practical applications as well as for the subject domain ontologies based upon it, describe the proposed architecture, and give possible examples of the execution of these applications in this architecture.

In this paper, we give a formalization of this shared pattern, which we call G IMLI, prove its general requirements, and derive a general-purpose algorithm for implementing similar approaches. Based on this analysis and algorithm, we describe a library of our design, higher, which we share with the community to assist and enable future research into these kinds of meta-learning approaches. We end the paper by showcasing the practical applications of this framework and library through illustrative experiments and ablation studies which they facilitate. 1 I NTRODUCTION Although it is by no means a new subfield of machine learning research (see e.g. Schmidhuber, 1987; Bengio, 2000; Hochreiter et al., 2001), there has recently been a surge of interest in meta-learning (e.g. This is due to the methods meta-learning provides, amongst other things, for producing models that perform well beyond the confines of a single task, outside the constraints of a static dataset, or simply with greater data efficiency or sample complexity. Due to the wealth of options in what could be considered "meta-" to a learning problem, the term itself may have been used with some degree of underspecification. However, it turns out that many meta-learning approaches, in particular in the recent literature, follow the pattern of optimizing the "meta-parameters" of the training process by nesting one or more inner loops in an outer training loop. Such nesting enables training a model for several steps, evaluating it, calculating or approximating the gradients of that evaluation with respect to the meta-parameters, and subsequently updating these meta-parameters.

We present a meta-learning approach based on learning an adaptive, high-dimensional loss function that can generalize across multiple tasks and different model architectures. We develop a fully differentiable pipeline for learning a loss function targeted at maximizing the performance of an optimizee trained using this loss function. We observe that the loss landscape produced by our learned loss significantly improves upon the original task-specific loss. We evaluate our method on supervised and reinforcement learning tasks. Furthermore, we show that our pipeline is able to operate in sparse reward and self-supervised reinforcement learning scenarios.

Learning a policy capable of moving an agent between any two states in the environment is important for many robotics problems involving navigation and manipulation. Due to the sparsity of rewards in such tasks, applying reinforcement learning in these scenarios can be challenging. Common approaches for tackling this problem include reward engineering with auxiliary rewards, requiring domain-specific knowledge or changing the objective. In this work, we introduce a method based on region-growing that allows learning in an environment with any pair of initial and goal states. Our algorithm first learns how to move between nearby states and then increases the difficulty of the start-goal transitions as the agent's performance improves. This approach creates an efficient curriculum for learning the objective behavior of reaching any goal from any initial state. In addition, we describe a method to adaptively adjust expansion of the growing region that allows automatic adjustment of the key exploration hyperparameter to environments with different requirements. We evaluate our approach on a set of simulated navigation and manipulation tasks, where we demonstrate that our algorithm can efficiently learn a policy in the presence of sparse rewards.