Related papers: Massively Scalable Inverse Reinforcement Learning …

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…

Path planning for mobile robots in large dynamic environments is a challenging problem, as the robots are required to efficiently reach their given goals while simultaneously avoiding potential conflicts with other robots or dynamic…

Optimizing objective functions subject to constraints is fundamental in many real-world applications. However, these constraints are often not readily defined and must be inferred from expert agent behaviors, a problem known as Inverse…

Reinforcement learning is the method of choice to train models in sampling-based setups with binary outcome feedback, such as navigation, code generation, and mathematical problem solving. In such settings, models implicitly induce a…

We make an important connection to existing results in econometrics to describe an alternative formulation of inverse reinforcement learning (IRL). In particular, we describe an algorithm using Conditional Choice Probabilities (CCP), which…

Enabling bipedal walking robots to learn how to maneuver over highly uneven, dynamically changing terrains is challenging due to the complexity of robot dynamics and interacted environments. Recent advancements in learning from…

While Reinforcement Learning (RL) aims to train an agent from a reward function in a given environment, Inverse Reinforcement Learning (IRL) seeks to recover the reward function from observing an expert's behavior. It is well known that, in…

Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

We consider the problem of multi-agent navigation and collision avoidance when observations are limited to the local neighborhood of each agent. We propose InforMARL, a novel architecture for multi-agent reinforcement learning (MARL) which…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

In-Context Reinforcement Learning (ICRL) enables agents to learn automatically and on-the-fly from their interactive experiences. However, a major challenge in scaling up ICRL is the lack of scalable task collections. To address this, we…

We study the problem of generalizing an expert agent's behavior, provided through demonstrations, to new environments and/or additional constraints. Inverse Reinforcement Learning (IRL) offers a promising solution by seeking to recover the…

We study the problem of Inverse Reinforcement Learning (IRL) with an average-reward criterion. The goal is to recover an unknown policy and a reward function when the agent only has samples of states and actions from an experienced agent.…

Reinforcement learning (RL) is a promising tool to solve robust optimal well control problems where the model parameters are highly uncertain, and the system is partially observable in practice. However, RL of robust control policies often…

Inverse Reinforcement Learning (IRL) algorithms infer a reward function that explains demonstrations provided by an expert acting in the environment. Maximum Causal Entropy (MCE) IRL is currently the most popular formulation of IRL, with…

Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic,…

Online map matching is a fundamental problem in location-based services, aiming to incrementally match trajectory data step-by-step onto a road network. However, existing methods fail to meet the needs for efficiency, robustness, and…

Reinforcement learning (RL) has proven to be well-performed and general-purpose in the inventory control (IC). However, further improvement of RL algorithms in the IC domain is impeded due to two limitations of online experience. First,…