Related papers: A Policy Search Method For Temporal Logic Specifie…
Reward engineering has long been a challenge in Reinforcement Learning (RL) research, as it often requires extensive human effort and iterative processes of trial-and-error to design effective reward functions. In this paper, we propose…
Exploration is widely regarded as one of the most challenging aspects of reinforcement learning (RL), with many naive approaches succumbing to exponential sample complexity. To isolate the challenges of exploration, we propose a new…
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…
Learning from rewards (i.e., reinforcement learning or RL) and learning to imitate a teacher (i.e., teacher-student learning) are two established approaches for solving sequential decision-making problems. To combine the benefits of these…
The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…
The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…
Researchers have demonstrated that Deep Reinforcement Learning (DRL) is a powerful tool for finding policies that perform well on complex robotic systems. However, these policies are often unpredictable and can induce highly variable…
Recent work has addressed using formulas in linear temporal logic (LTL) as specifications for agents planning in Markov Decision Processes (MDPs). We consider the inverse problem: inferring an LTL specification from demonstrated behavior…
Policy exploration is critical in reinforcement learning (RL), where existing approaches include greedy, Gaussian process, etc. However, these approaches utilize preset stochastic processes and are indiscriminately applied in all kinds of…
Advances in large language models (LLMs) are driving a shift toward using reinforcement learning (RL) to train agents from iterative, multi-turn interactions across tasks. However, multi-turn RL remains challenging as rewards are often…
To design rewards that align with human goals, Reinforcement Learning from Human Feedback (RLHF) has emerged as a prominent technique for learning reward functions from human preferences and optimizing policies via reinforcement learning…
Rewards and punishments in different forms are pervasive and present in a wide variety of decision-making scenarios. By observing the outcome of a sufficient number of repeated trials, one would gradually learn the value and usefulness of a…
We study reinforcement learning (RL) in the setting of continuous time and space, for an infinite horizon with a discounted objective and the underlying dynamics driven by a stochastic differential equation. Built upon recent advances in…
Reinforcement Learning (RL) methods have emerged as a popular choice for training an efficient and effective dialogue policy. However, these methods suffer from sparse and unstable reward signals returned by a user simulator only when a…
Reinforcement Learning (RL) has achieved significant success in solving single-goal tasks. However, uniform goal selection often results in sample inefficiency in multi-goal settings where agents must learn a universal goal-conditioned…
In real-time and safety-critical cyber-physical systems (CPSs), control synthesis must guarantee that generated policies meet stringent timing and correctness requirements under uncertain and dynamic conditions. Signal temporal logic (STL)…
Single-task RL agents are typically trained under a fixed reward function, which limits their robustness to reward misspecification and their ability to adapt to changing preferences. We introduce Reward-Conditioned Reinforcement Learning…
As multi-agent reinforcement learning (MARL) systems are increasingly deployed throughout society, it is imperative yet challenging for users to understand the emergent behaviors of MARL agents in complex environments. This work presents an…
Temporal point process is an expressive tool for modeling event sequences over time. In this paper, we take a reinforcement learning view whereby the observed sequences are assumed to be generated from a mixture of latent policies. The…
Reinforcement learning and Imitation Learning approaches utilize policy learning strategies that are difficult to generalize well with just a few examples of a task. In this work, we propose a language-conditioned semantic search-based…