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Reward design remains a significant bottleneck in applying reinforcement learning (RL) to real-world problems. A popular alternative is reward learning, where reward functions are inferred from human feedback rather than manually specified.…

To integrate into human-centered environments, autonomous agents must learn from and adapt to humans in their native settings. Preference-based reinforcement learning (PbRL) can enable this by learning reward functions from human…

When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online based on such human input, but they rely on handcrafted…

Our goal is to accurately and efficiently learn reward functions for autonomous robots. Current approaches to this problem include inverse reinforcement learning (IRL), which uses expert demonstrations, and preference-based learning, which…

Reward shaping is one of the most effective methods to tackle the crucial yet challenging problem of credit assignment in Reinforcement Learning (RL). However, designing shaping functions usually requires much expert knowledge and…

Designing an effective reward function has long been a challenge in reinforcement learning, particularly for complex tasks in unstructured environments. To address this, various learning paradigms have emerged that leverage different forms…

Reinforcement learning (RL) studies how an agent comes to achieve reward in an environment through interactions over time. Recent advances in machine RL have surpassed human expertise at the world's oldest board games and many classic video…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors,…

Reinforcement learning (RL) often struggles with reward misalignment, where agents optimize given rewards but fail to exhibit the desired behaviors. This arises when the reward function incentivizes proxy behaviors misaligned with the true…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic aspects of the tasks. We use active learning to optimize parameters of rhythmic…

Generating realistic human motion is a central yet unsolved challenge in video generation. While reinforcement learning (RL)-based post-training has driven recent gains in general video quality, extending it to human motion remains…

Generating complex behaviors that satisfy the preferences of non-expert users is a crucial requirement for AI agents. Interactive reward learning from trajectory comparisons (a.k.a. RLHF) is one way to allow non-expert users to convey…

Training robots directly from human videos is an emerging area in robotics and computer vision. While there has been notable progress with two-fingered grippers, learning autonomous tasks for multi-fingered robot hands in this way remains…

For legged robots to match the athletic capabilities of humans and animals, they must not only produce robust periodic walking and running, but also seamlessly switch between nominal locomotion gaits and more specialized transient…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

A well-defined reward function is crucial for successful training of an reinforcement learning (RL) agent. However, defining a suitable reward function is a notoriously challenging task, especially in complex, multi-objective environments.…

Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Scripting policies from scratch is intractable due to the high-dimensional control space, and training policies…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…