Related papers: Maximally Permissive Reward Machines

Mapping natural language instructions to programs that computers can process is a fundamental challenge. Existing approaches focus on likelihood-based training or using reinforcement learning to fine-tune models based on a single reward. In…

Rewards play an essential role in reinforcement learning. In contrast to rule-based game environments with well-defined reward functions, complex real-world robotic applications, such as contact-rich manipulation, lack explicit and…

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) can align language models with non-differentiable reward signals, such as human preferences. However, a major challenge arises from the sparsity of these reward signals - typically, there is only a single reward…

Reward functions are a common way to specify the objective of a robot. As designing reward functions can be extremely challenging, a more promising approach is to directly learn reward functions from human teachers. Importantly, data from…

Process reward models (PRMs) provide more nuanced supervision compared to outcome reward models (ORMs) for optimizing policy models, positioning them as a promising approach to enhancing the capabilities of LLMs in complex reasoning tasks.…

Artificial intelligence is commonly defined as the ability to achieve goals in the world. In the reinforcement learning framework, goals are encoded as reward functions that guide agent behaviour, and the sum of observed rewards provide a…

While reinforcement learning algorithms provide automated acquisition of optimal policies, practical application of such methods requires a number of design decisions, such as manually designing reward functions that not only define the…

Solving tasks with sparse rewards is one of the most important challenges in reinforcement learning. In the single-agent setting, this challenge is addressed by introducing intrinsic rewards that motivate agents to explore unseen regions of…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Model-based reinforcement learning methods typically learn models for high-dimensional state spaces by aiming to reconstruct and predict the original observations. However, drawing inspiration from model-free reinforcement learning, we…

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…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

Recent works on large language models (LLMs) have successfully demonstrated the emergence of reasoning capabilities via reinforcement learning (RL). Although recent efforts leverage group relative policy optimization (GRPO) for MLLMs…

Process Reward Models (PRMs) emerge as a promising approach for process supervision in mathematical reasoning of Large Language Models (LLMs), which aim to identify and mitigate intermediate errors in the reasoning processes. However, the…

Reward functions are central in specifying the task we want a reinforcement learning agent to perform. Given a task and desired optimal behavior, we study the problem of designing informative reward functions so that the designed rewards…

Reward engineering, the manual specification of reward functions to induce desired agent behavior, remains a fundamental challenge in multi-agent reinforcement learning. This difficulty is amplified by credit assignment ambiguity,…

Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…

While large language models excel in diverse domains, their performance on complex longhorizon agentic decision-making tasks remains limited. Most existing methods concentrate on designing effective reward models (RMs) to advance…

This paper explores the possibility of near-optimally solving multi-agent, multi-task NP-hard planning problems with time-dependent rewards using a learning-based algorithm. In particular, we consider a class of robot/machine scheduling…