Related papers: Policy Continuation with Hindsight Inverse Dynamic…
Reinforcement Learning (RL) has shown promise for aligning Large Language Models (LLMs) to follow instructions with various constraints. Despite the encouraging results, RL improvement inevitably relies on sampling successful, high-quality…
Hindsight experience replay (HER) is a goal relabelling technique typically used with off-policy deep reinforcement learning algorithms to solve goal-oriented tasks; it is well suited to robotic manipulation tasks that deliver only sparse…
Reinforcement learning has shown great potential in solving complex tasks when large amounts of data can be generated with little effort. In robotics, one approach to generate training data builds on simulations based on dynamics models…
Learning optimal policies from sparse feedback is a known challenge in reinforcement learning. Hindsight Experience Replay (HER) is a multi-goal reinforcement learning algorithm that comes to solve such tasks. The algorithm treats every…
Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…
In this paper, we study an inverse reinforcement learning problem that involves learning the reward function of a learning agent using trajectory data collected while this agent is learning its optimal policy. To address this problem, we…
Episodic self-imitation learning, a novel self-imitation algorithm with a trajectory selection module and an adaptive loss function, is proposed to speed up reinforcement learning. Compared to the original self-imitation learning algorithm,…
Reinforcement learning methods have been used to compute dialog policies from language-based interaction experiences. Efficiency is of particular importance in dialog policy learning, because of the considerable cost of interacting with…
Deep reinforcement learning (RL) has shown immense potential for learning to control systems through data alone. However, one challenge deep RL faces is that the full state of the system is often not observable. When this is the case, the…
Adversarial imitation learning (AIL) is a popular method that has recently achieved much success. However, the performance of AIL is still unsatisfactory on the more challenging tasks. We find that one of the major reasons is due to the low…
Hindsight Experience Replay (HER) is a technique used in reinforcement learning (RL) that has proven to be very efficient for training off-policy RL-based agents to solve goal-based robotic manipulation tasks using sparse rewards. Even…
Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as a promising paradigm for post-training reasoning models. However, group-based methods such as Group Relative Policy Optimization (GRPO) face a critical dilemma in…
Reinforcement learning has seen wide success in finetuning large language models to better align with instructions via human feedback. The so-called algorithm, Reinforcement Learning with Human Feedback (RLHF) demonstrates impressive…
Interactive visual navigation tasks, which involve following instructions to reach and interact with specific targets, are challenging not only because successful experiences are very rare but also because the complex visual inputs require…
We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…
Policy gradient methods hold great potential for solving complex continuous control tasks. Still, their training efficiency can be improved by exploiting structure within the optimization problem. Recent work indicates that supervised…
We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique…
Reinforcement learning (RL) with sparse and deceptive rewards is challenging because non-zero rewards are rarely obtained. Hence, the gradient calculated by the agent can be stochastic and without valid information. Recent studies that…
Deep reinforcement learning has demonstrated increasing capabilities for continuous control problems, including agents that can move with skill and agility through their environment. An open problem in this setting is that of developing…
Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…