Related papers: Reclaiming the Source of Programmatic Policies: Pr…
Aiming to produce reinforcement learning (RL) policies that are human-interpretable and can generalize better to novel scenarios, Trivedi et al. (2021) present a method (LEAPS) that first learns a program embedding space to continuously…
Syntax-guided synthesis is commonly used to generate programs encoding policies. In this approach, the set of programs, that can be written in a domain-specific language defines the search space, and an algorithm searches within this space…
Reinforcement Learning (RL) traditionally relies on scalar reward signals, limiting its ability to leverage the rich semantic knowledge often available in real-world tasks. In contrast, humans learn efficiently by combining numerical…
Path planning, the problem of efficiently discovering high-reward trajectories, often requires optimizing a high-dimensional and multimodal reward function. Popular approaches like CEM and CMA-ES greedily focus on promising regions of the…
Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…
We address the problem of learning hierarchical deep neural network policies for reinforcement learning. In contrast to methods that explicitly restrict or cripple lower layers of a hierarchy to force them to use higher-level modulating…
It is well known that for any finite state Markov decision process (MDP) there is a memoryless deterministic policy that maximizes the expected reward. For partially observable Markov decision processes (POMDPs), optimal memoryless policies…
Researchers have demonstrated that Deep Reinforcement Learning (DRL) is a powerful tool for finding policies that perform well on complex robotic systems. However, these policies are often unpredictable and can induce highly variable…
The integration of Large Language Models (LLMs) into evolutionary frameworks has established a new paradigm for automated heuristic discovery. Despite their promise, these methods typically search in the discrete space of program syntax,…
Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work…
This paper introduces a novel causal framework for multi-stage decision-making in natural language action spaces where outcomes are only observed after a sequence of actions. While recent approaches like Proximal Policy Optimization (PPO)…
Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…
Local Policy Search is a popular reinforcement learning approach for handling large state spaces. Formally, it searches locally in a paramet erized policy space in order to maximize the associated value function averaged over some…
We consider the problem of finding good finite-horizon policies for POMDPs under the expected reward metric. The policies considered are {em free finite-memory policies with limited memory}; a policy is a mapping from the space of…
Reinforcement learning policies are often represented by neural networks, but programmatic policies are preferred in some cases because they are more interpretable, amenable to formal verification, or generalize better. While efficient…
Partially Observable Markov Decision Processes (POMDPs) are a powerful framework for planning under uncertainty. They allow to model state uncertainty as a belief probability distribution. Approximate solvers based on Monte Carlo sampling…
We propose a new reinforcement learning algorithm for partially observable Markov decision processes (POMDP) based on spectral decomposition methods. While spectral methods have been previously employed for consistent learning of (passive)…
Since the adoption of large language models (LLMs) for text evaluation has become increasingly prevalent in the field of natural language processing (NLP), a series of existing works attempt to optimize the prompts for LLM evaluators to…
We study reinforcement learning with function approximation for large-scale Partially Observable Markov Decision Processes (POMDPs) where the state space and observation space are large or even continuous. Particularly, we consider Hilbert…
Recent advancements in proactive dialogues have garnered significant attention, particularly for more complex objectives (e.g. emotion support and persuasion). Unlike traditional task-oriented dialogues, proactive dialogues demand advanced…