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Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…
We consider the problem of recovering an expert's reward function with inverse reinforcement learning (IRL) when there are missing/incomplete state-action pairs or observations in the demonstrated trajectories. This issue of missing…
Human demonstration data is often ambiguous and incomplete, motivating imitation learning approaches that also exhibit reliable planning behavior. A common paradigm to perform planning-from-demonstration involves learning a reward function…
Most 3d human pose estimation methods assume that input -- be it images of a scene collected from one or several viewpoints, or from a video -- is given. Consequently, they focus on estimates leveraging prior knowledge and measurement by…
We outline a way for an agent to learn the dispositions of a particular individual through inverse reinforcement learning where the state space at time t includes an fMRI scan of the individual, to represent his brain state at that time.…
Offline Reinforcement Learning (RL) learns optimal policies from fixed datasets, training a policy once and deploying it at inference time without further refinement. Inspired by model predictive control (MPC), we introduce an inference…
Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…
We study a new paradigm for sequential decision making, called offline policy learning from observations (PLfO). Offline PLfO aims to learn policies using datasets with substandard qualities: 1) only a subset of trajectories is labeled with…
This paper demonstrates that continual relearning of control policies using incremental deep reinforcement learning (RL) can improve policy learning for non-stationary processes. We demonstrate this approach for a data-driven 'smart…
The goal of the inverse reinforcement learning (IRL) problem is to recover the reward functions from expert demonstrations. However, the IRL problem like any ill-posed inverse problem suffers the congenital defect that the policy may be…
Unsupervised pre-training has recently become the bedrock for computer vision and natural language processing. In reinforcement learning (RL), goal-conditioned RL can potentially provide an analogous self-supervised approach for making use…
Scaling model-based inverse reinforcement learning (IRL) to real robotic manipulation tasks with unknown dynamics remains an open problem. The key challenges lie in learning good dynamics models, developing algorithms that scale to…
Inverse reinforcement learning (IRL) is a powerful paradigm for uncovering the incentive structure that drives agent behavior, by inferring an unknown reward function from observed trajectories within a Markov decision process (MDP).…
Inverse reinforcement learning (IRL) methods assume that the expert data is generated by an agent optimizing some reward function. However, in many settings, the agent may optimize a reward function subject to some constraints, where the…
This paper proposes an inverse reinforcement learning (IRL) framework to accelerate learning when the learner-teacher \textit{interaction} is \textit{limited} during training. Our setting is motivated by the realistic scenarios where a…
For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…
Large language models (LLMs) trained with Reinforcement Learning from Human Feedback (RLHF) have demonstrated remarkable capabilities, but their underlying reward functions and decision-making processes remain opaque. This paper introduces…
This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…
Inverse reinforcement learning (IRL) attempts to infer human rewards or preferences from observed behavior. Since human planning systematically deviates from rationality, several approaches have been tried to account for specific human…
Reinforcement learning has seen increasing applications in real-world contexts over the past few years. However, physical environments are often imperfect and policies that perform well in simulation might not achieve the same performance…