Related papers: A Closer Look at Reward Decomposition for High-Lev…

Reward machines (RMs) are a recent formalism for representing the reward function of a reinforcement learning task through a finite-state machine whose edges encode subgoals of the task using high-level events. The structure of RMs enables…

With the increasing presence of robotic systems and human-robot environments in today's society, understanding the reasoning behind actions taken by a robot is becoming more important. To increase this understanding, users are provided with…

The development of autonomous agents for complex, long-horizon tasks is a central goal in AI. However, dominant training paradigms face a critical limitation: reinforcement learning (RL) methods that optimize solely for final task success…

Reinforcement Learning (RL) agents have demonstrated their potential across various robotic tasks. However, they still heavily rely on human-engineered reward functions, requiring extensive trial-and-error and access to target behavior…

Reinforcement Learning (RL) is a learning paradigm in which the agent learns from its environment through trial and error. Deep reinforcement learning (DRL) algorithms represent the agent's policies using neural networks, making their…

Building trust in reinforcement learning (RL) agents requires understanding why they make certain decisions, especially in high-stakes applications like robotics, healthcare, and finance. Existing explainability methods often focus on…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

In multi-agent reinforcement learning (MARL), it is challenging for a collection of agents to learn complex temporally extended tasks. The difficulties lie in computational complexity and how to learn the high-level ideas behind reward…

We propose an explainable reinforcement learning (XRL) framework that analyzes an agent's history of interaction with the environment to extract interestingness elements that help explain its behavior. The framework relies on data readily…

Large Vision-Language Models (LVLMs) have recently advanced robotic manipulation by leveraging vision for scene perception and language for instruction following. However, existing methods rely heavily on costly human-annotated training…

Natural and formal languages provide an effective mechanism for humans to specify instructions and reward functions. We investigate how to generate policies via RL when reward functions are specified in a symbolic language captured by…

Reinforcement learning (RL) is a powerful machine learning technique that has been successfully applied to a wide variety of problems. However, it can be unpredictable and produce suboptimal results in complicated learning environments.…

It is often difficult to hand-specify what the correct reward function is for a task, so researchers have instead aimed to learn reward functions from human behavior or feedback. The types of behavior interpreted as evidence of the reward…

Reinforcement Learning (RL) is essential for evolving Large Language Models (LLMs) into autonomous agents capable of long-horizon planning, yet a practical recipe for scaling RL in complex, multi-turn environments remains elusive. This…

Deep reinforcement learning (RL) has recently shown great promise in robotic continuous control tasks. Nevertheless, prior research in this vein center around the centralized learning setting that largely relies on the communication…

Methods of deep machine learning enable to to reuse low-level representations efficiently for generating more abstract high-level representations. Originally, deep learning has been applied passively (e.g., for classification purposes).…

Recent work has shown that deep reinforcement-learning agents can learn to follow language-like instructions from infrequent environment rewards. However, this places on environment designers the onus of designing language-conditional…

Learning to solve long horizon temporally extended tasks with reinforcement learning has been a challenge for several years now. We believe that it is important to leverage both the hierarchical structure of complex tasks and to use expert…

Recent studies show that deep reinforcement learning (DRL) agents tend to overfit to the task on which they were trained and fail to adapt to minor environment changes. To expedite learning when transferring to unseen tasks, we propose a…

Many real-world reinforcement learning (RL) problems necessitate learning complex, temporally extended behavior that may only receive reward signal when the behavior is completed. If the reward-worthy behavior is known, it can be specified…