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The standard reinforcement learning (RL) formulation considers the expectation of the (discounted) cumulative reward. This is limiting in applications where we are concerned with not only the expected performance, but also the distribution…

Reinforcement learning often suffer from the sparse reward issue in real-world robotics problems. Learning from demonstration (LfD) is an effective way to eliminate this problem, which leverages collected expert data to aid online learning.…

Meta-reinforcement learning (meta-RL) has proven to be a successful framework for leveraging experience from prior tasks to rapidly learn new related tasks, however, current meta-RL approaches struggle to learn in sparse reward…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

The open-ended generation in LLMs usually requires multi-dimensional rubrics to adequately assess quality and guide the improvement of reinforcement learning. However, a critical dilemma inherent in this training paradigm is the imbalanced…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Reinforcement Learning (RL) in environments with complex, history-dependent reward structures poses significant challenges for traditional methods. In this work, we introduce a novel approach that leverages automaton-based feedback to guide…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Reinforcement Learning (RL) models have continually evolved to navigate the exploration - exploitation trade-off in uncertain Markov Decision Processes (MDPs). In this study, I leverage the principles of stochastic thermodynamics and system…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Symbolic Regression aims to automatically identify compact and interpretable mathematical expressions that model the functional relationship between input and output variables. Most existing search-based symbolic regression methods…

In reinforcement learning (RL), different reward functions can define the same optimal policy but result in drastically different learning performance. For some, the agent gets stuck with a suboptimal behavior, and for others, it solves the…

Reward machines (RMs) provide a structured way to specify non-Markovian rewards in reinforcement learning (RL), thereby improving both expressiveness and programmability. Viewed more broadly, they separate what is known about the…

The reward signal plays a central role in defining the desired behaviors of agents in reinforcement learning (RL). Rewards collected from realistic environments could be perturbed, corrupted, or noisy due to an adversary, sensor error, or…

There has been significant progress in deep reinforcement learning (RL) in recent years. Nevertheless, finding suitable hyperparameter configurations and reward functions remains challenging even for experts, and performance heavily relies…

Reinforcement learning (RL) algorithms are highly sensitive to reward function specification, which remains a central challenge limiting their broad applicability. We present ARM-FM: Automated Reward Machines via Foundation Models, a…

Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

Reinforcement Learning with Verifiable Rewards~(RLVR) has emerged as a powerful learn-to-reason paradigm for large reasoning models to tackle complex tasks. However, the current RLVR paradigm is still not efficient enough, as it works in a…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…