Related papers: ARC - Actor Residual Critic for Adversarial Imitat…
Effective exploration continues to be a significant challenge that prevents the deployment of reinforcement learning for many physical systems. This is particularly true for systems with continuous and high-dimensional state and action…
Surgical robot task automation has recently attracted great attention due to its potential to benefit both surgeons and patients. Reinforcement learning (RL) based approaches have demonstrated promising ability to provide solutions to…
We consider an improper reinforcement learning setting where a learner is given $M$ base controllers for an unknown Markov decision process, and wishes to combine them optimally to produce a potentially new controller that can outperform…
With the evolution of various advanced driver assistance system (ADAS) platforms, the design of autonomous driving system is becoming more complex and safety-critical. The autonomous driving system simultaneously activates multiple ADAS…
Inverse reinforcement learning (IRL) addresses the problem of recovering a task description given a demonstration of the optimal policy used to solve such a task. The optimal policy is usually provided by an expert or teacher, making IRL…
This paper considers learning robot locomotion and manipulation tasks from expert demonstrations. Generative adversarial imitation learning (GAIL) trains a discriminator that distinguishes expert from agent transitions, and in turn use a…
Inverse reinforcement learning (IRL) deals with estimating an agent's utility function from its actions. In this paper, we consider how an agent can hide its strategy and mitigate an adversarial IRL attack; we call this inverse IRL (I-IRL).…
Imitation learning is well-suited for robotic tasks where it is difficult to directly program the behavior or specify a cost for optimal control. In this work, we propose a method for learning the reward function (and the corresponding…
Teaching large language models (LLMs) to reason during post-training typically relies on reinforcement learning with explicit outcome- or process-based reward functions. However, in many real-world settings, obtaining or defining such…
Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…
Asynchronous and parallel implementation of standard reinforcement learning (RL) algorithms is a key enabler of the tremendous success of modern RL. Among many asynchronous RL algorithms, arguably the most popular and effective one is the…
Deep reinforcement learning achieves superhuman performance in a range of video game environments, but requires that a designer manually specify a reward function. It is often easier to provide demonstrations of a target behavior than to…
Continual learning enables AI models to learn new data sequentially without retraining in real-world scenarios. Most existing methods assume the training data are balanced, aiming to reduce the catastrophic forgetting problem that models…
Reinforcement learning (RL) has achieved enormous progress in solving various sequential decision-making problems, such as control tasks in robotics. Since policies are overfitted to training environments, RL methods have often failed to be…
Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…
Continual learning, also known as lifelong learning or incremental learning, refers to the process by which a model learns from a stream of incoming data over time. A common problem in continual learning is the classification layer's bias…
Class-incremental learning (CIL) learns a classification model with training data of different classes arising progressively. Existing CIL either suffers from serious accuracy loss due to catastrophic forgetting, or invades data privacy by…
Multi-agent reinforcement learning (MARL) has attracted much research attention recently. However, unlike its single-agent counterpart, many theoretical and algorithmic aspects of MARL have not been well-understood. In this paper, we study…
Reinforcement Learning (RL) in various decision-making tasks of machine learning provides effective results with an agent learning from a stand-alone reward function. However, it presents unique challenges with large amounts of environment…
Deep reinforcement learning (RL) has proven a powerful technique in many sequential decision making domains. However, Robotics poses many challenges for RL, most notably training on a physical system can be expensive and dangerous, which…