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LLM-agent training pipelines routinely discard failed trajectories even though GPT-4o achieves only 14-20% on WebArena and below 55% pass@1 on ToolBench; even specialised systems at 50-65% leave the majority of trajectories unused. We…
This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding…
Meta-reinforcement learning (meta-RL) algorithms allow for agents to learn new behaviors from small amounts of experience, mitigating the sample inefficiency problem in RL. However, while meta-RL agents can adapt quickly to new tasks at…
Hindsight goal relabeling has become a foundational technique in multi-goal reinforcement learning (RL). The essential idea is that any trajectory can be seen as a sub-optimal demonstration for reaching its final state. Intuitively,…
Recent advances in Large Language Models (LLMs) and Vision-Language Models (VLMs) have enabled powerful semantic and multimodal reasoning capabilities, creating new opportunities to enhance sample efficiency, high-level planning, and…
In continual learning, the learner faces a stream of data whose distribution changes over time. Modern neural networks are known to suffer under this setting, as they quickly forget previously acquired knowledge. To address such…
Oftentimes, environments for sequential decision-making problems can be quite sparse in the provision of evaluative feedback to guide reinforcement-learning agents. In the extreme case, long trajectories of behavior are merely punctuated…
In classical Q-learning, the objective is to maximize the sum of discounted rewards through iteratively using the Bellman equation as an update, in an attempt to estimate the action value function of the optimal policy. Conventionally, the…
The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…
There is a recent trend of applying multi-agent reinforcement learning (MARL) to train an agent that can cooperate with humans in a zero-shot fashion without using any human data. The typical workflow is to first repeatedly run self-play…
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…
Successfully navigating a complex environment to obtain a desired outcome is a difficult task, that up to recently was believed to be capable only by humans. This perception has been broken down over time, especially with the introduction…
The challenges inherent in long-horizon tasks in robotics persist due to the typical inefficient exploration and sparse rewards in traditional reinforcement learning approaches. To address these challenges, we have developed a novel…
Learning agents can make use of Reinforcement Learning (RL) to decide their actions by using a reward function. However, the learning process is greatly influenced by the elect of values of the hyperparameters used in the learning…
Experience replay is widely used to improve learning efficiency in reinforcement learning by leveraging past experiences. However, existing experience replay methods, whether based on uniform or prioritized sampling, often suffer from low…
Learning with sparse rewards remains a significant challenge in reinforcement learning (RL), especially when the aim is to train a policy capable of achieving multiple different goals. To date, the most successful approaches for dealing…
First-order relational languages have been used in MDP planning and reinforcement learning (RL) for two main purposes: specifying MDPs in compact form, and representing and learning policies that are general and not tied to specific…
Reinforcement learning (RL) in non-stationary environments is challenging, as changing dynamics and rewards quickly make past experiences outdated. Traditional experience replay (ER) methods, especially those using TD-error prioritization,…
Reward design is a fundamental, yet challenging aspect of reinforcement learning (RL). Researchers typically utilize feedback signals from the environment to handcraft a reward function, but this process is not always effective due to the…
In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at…