Related papers: Goal-Conditioned Reinforcement Learning with Disen…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Meta reinforcement learning (RL) allows agents to leverage experience across a distribution of tasks on which the agent can train at will, enabling faster learning of optimal policies on new test tasks. Despite its success in improving…

This paper discusses how ophthalmologists often rely on multimodal data to improve diagnostic accuracy. However, complete multimodal data is rare in real-world applications due to a lack of medical equipment and concerns about data privacy.…

Autonomous mobile robots operating in complex, dynamic environments face the dual challenge of navigating large-scale, structurally diverse spaces with static obstacles while safely interacting with various moving agents. Traditional…

Goal-conditioned hierarchical reinforcement learning (HRL) decomposes complex reaching tasks into a sequence of simple subgoal-conditioned tasks, showing significant promise for addressing long-horizon planning in large-scale environments.…

Goal-oriented reinforcement learning has recently been a practical framework for robotic manipulation tasks, in which an agent is required to reach a certain goal defined by a function on the state space. However, the sparsity of such…

Human beings are able to understand objectives and learn by simply observing others perform a task. Imitation learning methods aim to replicate such capabilities, however, they generally depend on access to a full set of optimal states and…

Constrained Reinforcement Learning (CRL) is a subset of machine learning that introduces constraints into the traditional reinforcement learning (RL) framework. Unlike conventional RL which aims solely to maximize cumulative rewards, CRL…

In recent years, Reinforcement Learning (RL) has been applied to real-world problems with increasing success. Such applications often require to put constraints on the agent's behavior. Existing algorithms for constrained RL (CRL) rely on…

We introduce a method to address goal misgeneralization in reinforcement learning (RL), leveraging Large Language Model (LLM) feedback during training. Goal misgeneralization, a type of robustness failure in RL occurs when an agent retains…

Post-training with Reinforcement Learning (RL) has substantially improved reasoning in Large Language Models (LLMs) via test-time scaling. However, extending this paradigm to Multimodal LLMs (MLLMs) through verbose rationales yields limited…

Large Language Models (LLMs) have demonstrated remarkable abilities in various language tasks, making them promising candidates for decision-making in robotics. Inspired by Hierarchical Reinforcement Learning (HRL), we propose…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Reinforcement Learning (RL) has achieved remarkable success in various domains, yet it often relies on carefully designed programmatic reward functions to guide agent behavior. Designing such reward functions can be challenging and may not…

Multi-goal reinforcement learning (RL) aims to qualify the agent to accomplish multi-goal tasks, which is of great importance in learning scalable robotic manipulation skills. However, reward engineering always requires strenuous efforts in…

Despite significant progress, deep reinforcement learning (RL) suffers from data-inefficiency and limited generalization. Recent efforts apply meta-learning to learn a meta-learner from a set of RL tasks such that a novel but related task…

It can largely benefit the reinforcement learning (RL) process of each agent if multiple geographically distributed agents perform their separate RL tasks cooperatively. Different from multi-agent reinforcement learning (MARL) where…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Excavation of irregular rigid objects in clutter, such as fragmented rocks and wood blocks, is very challenging due to their complex interaction dynamics and highly variable geometries. In this paper, we adopt reinforcement learning (RL) to…

Reinforcement learning has seen increasing applications in real-world contexts over the past few years. However, physical environments are often imperfect and policies that perform well in simulation might not achieve the same performance…