{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/value-iteration-for-learning-concurrently","title":"Value Iteration for Learning Concurrently Executable Robotic Control Tasks","arxiv_id":"2504.01174","date":"2025-04-01","proceeding":null,"authors":["Sheikh A. Tahmid","Gennaro Notomista"],"abstract":"Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL) paradigm, to train redundant robots to be able to execute multiple tasks concurrently. Our approach differs from typical multi-objective RL methods insofar as the learned tasks can be combined and executed in possibly time-varying prioritized stacks. We do so by first defining a notion of task independence between learned value functions. We then use our definition of task independence to propose a cost functional that encourages a policy, based on an approximated value function, to accomplish its control objective while minimally interfering with the execution of higher priority tasks. This allows us to train a set of control policies that can be executed simultaneously. We also introduce a version of fitted value iteration to learn to approximate our proposed cost functional efficiently. We demonstrate our approach on several scenarios and robotic systems.","url_abs":"https://arxiv.org/abs/2504.01174v1","url_pdf":"https://arxiv.org/pdf/2504.01174v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"value-iteration-for-learning-concurrently","repo_url":"https://github.com/erablab/value_iteration_for_learning_concurrently_executable_robotic_control_tasks","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"}],"methods":[{"method_slug":"set","method_name":"SET"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}