Related papers: Task Phasing: Automated Curriculum Learning from D…

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…

Meta reinforcement learning (meta-RL) aims to learn a policy solving a set of training tasks simultaneously and quickly adapting to new tasks. It requires massive amounts of data drawn from training tasks to infer the common structure…

Reward shaping allows reinforcement learning (RL) agents to accelerate learning by receiving additional reward signals. However, these signals can be difficult to design manually, especially for complex RL tasks. We propose a simple and…

Curriculum reinforcement learning (CRL) allows solving complex tasks by generating a tailored sequence of learning tasks, starting from easy ones and subsequently increasing their difficulty. Although the potential of curricula in RL has…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

For reinforcement learning (RL), it is challenging for an agent to master a task that requires a specific series of actions due to sparse rewards. To solve this problem, reverse curriculum generation (RCG) provides a reverse expansion…

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…

Reinforcement learning (RL) is a powerful framework for learning to take actions to solve tasks. However, in many settings, an agent must winnow down the inconceivably large space of all possible tasks to the single task that it is…

Finding meaningful and accurate dense rewards is a fundamental task in the field of reinforcement learning (RL) that enables agents to explore environments more efficiently. In traditional RL settings, agents learn optimal policies through…

We propose a Reinforcement Learning (RL) based control design framework for handling complex tasks. The approach extends the concept of Reward Machines (RM) with Signal Temporal Logic (STL) formulas that can be used for event generation.…

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…

We propose Scheduled Auxiliary Control (SAC-X), a new learning paradigm in the context of Reinforcement Learning (RL). SAC-X enables learning of complex behaviors - from scratch - in the presence of multiple sparse reward signals. To this…

Sparse reward environments pose significant challenges in reinforcement learning, especially within multi-agent systems (MAS) where feedback is delayed and shared across agents, leading to suboptimal learning. We propose Collaborative…

Reward design is a fundamental problem in reinforcement learning (RL). A misspecified or poorly designed reward can result in low sample efficiency and undesired behaviors. In this paper, we propose the idea of programmatic reward design,…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Reinforcement learning (RL) algorithms allow artificial agents to improve their selection of actions to increase rewarding experiences in their environments. Temporal Difference (TD) Learning -- a model-free RL method -- is a leading…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

Curriculum learning in reinforcement learning is used to shape exploration by presenting the agent with increasingly complex tasks. The idea of curriculum learning has been largely applied in both animal training and pedagogy. In…

There is a surge of interest in using formal languages such as Linear Temporal Logic (LTL) to precisely and succinctly specify complex tasks and derive reward functions for Reinforcement Learning (RL). However, existing methods often assign…