Related papers: RLZero: Direct Policy Inference from Language With…

We use model-free reinforcement learning, extensive simulation, and transfer learning to develop a continuous control algorithm that has good zero-shot performance in a real physical environment. We train a simulated agent to act optimally…

We study instruction following in multi-task reinforcement learning, where an agent must zero-shot execute novel tasks not seen during training. In this setting, linear temporal logic (LTL) has recently been adopted as a powerful framework…

Agent skills, structured packages of procedural knowledge and executable resources that agents dynamically load at inference time, have become a reliable mechanism for augmenting LLM agents. Yet inference-time skill augmentation is…

This paper explores multiple optimization methods to improve the performance of rating-based reinforcement learning (RbRL). RbRL, a method based on the idea of human ratings, has been developed to infer reward functions in reward-free…

Natural Language-conditioned reinforcement learning (RL) enables the agents to follow human instructions. Previous approaches generally implemented language-conditioned RL by providing human instructions in natural language (NL) and…

Generating human motion that satisfies customized zero-shot goal functions, enabling applications such as controllable character animation and behavior synthesis for virtual agents, is a critical capability. While current approaches handle…

Whereas machine learning models typically learn language by directly training on language tasks (e.g., next-word prediction), language emerges in human children as a byproduct of solving non-language tasks (e.g., acquiring food). Motivated…

Self-play has enabled large language models to autonomously improve through self-generated challenges. However, existing self-play methods for vision-language models rely on passive interaction with static image collections, resulting in…

Reinforcement Learning (RL) is known to be often unsuccessful in environments with sparse extrinsic rewards. A possible countermeasure is to endow RL agents with an intrinsic reward function, or 'intrinsic motivation', which rewards the…

Humans integrate multiple sensory modalities (e.g. visual and audio) to build a causal understanding of the physical world. In this work, we propose a novel type of intrinsic motivation for Reinforcement Learning (RL) that encourages the…

Finding meaningful and accurate dense rewards is a fundamental task in the field of reinforcement learning (RL) that enables agents to explore environments more efficiently. In traditional RL settings, agents learn optimal policies through…

Large language models (LLMs) are becoming the foundation for autonomous agents that can use tools to solve complex tasks. Reinforcement learning (RL) has emerged as a common approach for injecting such agentic capabilities, but typically…

Reinforcement learning plays a crucial role in vehicle control by guiding agents to learn optimal control strategies through designing or learning appropriate reward signals. However, in vehicle control applications, rewards typically need…

Most reinforcement learning (RL) methods focus on learning optimal policies over low-level action spaces. While these methods can perform well in their training environments, they lack the flexibility to transfer to new tasks. Instead, RL…

Offline Reinforcement Learning (RL) addresses the problem of sequential decision-making by learning optimal policy through pre-collected data, without interacting with the environment. As yet, it has remained somewhat impractical, because…

Post-training Vision-Language-Action (VLA) models via reinforcement learning (RL) in learned world models has emerged as an effective strategy to adapt to new tasks without costly real-world interactions. However, while using imagined…

Learning to solve tasks from a sparse reward signal is a major challenge for standard reinforcement learning (RL) algorithms. However, in the real world, agents rarely need to solve sparse reward tasks entirely from scratch. More often, we…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

Passive observational data, such as human videos, is abundant and rich in information, yet remains largely untapped by current RL methods. Perhaps surprisingly, we show that passive data, despite not having reward or action labels, can…