Related papers: SEIHAI: A Sample-efficient Hierarchical AI for the…
Reinforcement Learning (RL) with rubric-based rewards has recently shown remarkable progress in enhancing general reasoning capabilities of Large Language Models (LLMs), yet still suffers from ineffective exploration confined to curent…
Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…
Scripted agents have predominantly won the five previous iterations of the IEEE microRTS ($\mu$RTS) competitions hosted at CIG and CoG. Despite Deep Reinforcement Learning (DRL) algorithms making significant strides in real-time strategy…
Reinforcement learning (RL) provides a naturalistic framing for learning through trial and error, which is appealing both because of its simplicity and effectiveness and because of its resemblance to how humans and animals acquire skills…
In the training process of Deep Reinforcement Learning (DRL), agents require repetitive interactions with the environment. With an increase in training volume and model complexity, it is still a challenging problem to enhance data…
Aligning robot behavior with human preferences is crucial for deploying embodied AI agents in human-centered environments. A promising solution is interactive imitation learning from human intervention, where a human expert observes the…
Robotic motion planning problems are typically solved by constructing a search tree of valid maneuvers from a start to a goal configuration. Limited onboard computation and real-time planning constraints impose a limit on how large this…
Hierarchical reinforcement learning (HRL) incorporates temporal abstraction into reinforcement learning (RL) by explicitly taking advantage of hierarchical structure. Modern HRL typically designs a hierarchical agent composed of a…
This work handles the inverse reinforcement learning (IRL) problem where only a small number of demonstrations are available from a demonstrator for each high-dimensional task, insufficient to estimate an accurate reward function. Observing…
We propose a new framework for imitation learning -- treating imitation as a two-player ranking-based game between a policy and a reward. In this game, the reward agent learns to satisfy pairwise performance rankings between behaviors,…
Hierarchical reinforcement learning (HRL) has seen widespread interest as an approach to tractable learning of complex modular behaviors. However, existing work either assume access to expert-constructed hierarchies, or use…
In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…
Hierarchical Reinforcement Learning (HRL) agents often struggle with long-horizon visual planning due to their reliance on error-prone distance metrics. We propose Discrete Hierarchical Planning (DHP), a method that replaces continuous…
In robotic manipulation, acquiring samples is extremely expensive because it often requires interacting with the real world. Traditional image-level data augmentation has shown the potential to improve sample efficiency in various machine…
Adversarial Imitation Learning (AIL) is a class of algorithms in Reinforcement learning (RL), which tries to imitate an expert without taking any reward from the environment and does not provide expert behavior directly to the policy…
Reinforcement learning (RL) algorithms face significant challenges when dealing with long-horizon robot manipulation tasks in real-world environments due to sample inefficiency and safety issues. To overcome these challenges, we propose a…
Current Hierarchical Reinforcement Learning (HRL) algorithms excel in long-horizon sequential decision-making tasks but still face two challenges: delay effects and spurious correlations. To address them, we propose a causal HRL approach…
High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…
The following interdisciplinary article presents a memetic algorithm with applying deep reinforcement learning (DRL) for solving practically oriented dual resource constrained flexible job shop scheduling problems (DRC-FJSSP). From research…
Crafting effective reward signals remains a central challenge in Reinforcement Learning (RL), especially for complex reasoning tasks. Existing automated reward optimization methods typically rely on derivative-free search heuristics that…