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Reward engineering is an important aspect of reinforcement learning. Whether or not the user's intentions can be correctly encapsulated in the reward function can significantly impact the learning outcome. Current methods rely on manually…
The central tenet of reinforcement learning (RL) is that agents seek to maximize the sum of cumulative rewards. In contrast, active inference, an emerging framework within cognitive and computational neuroscience, proposes that agents act…
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…
In Reinforcement Learning (RL), the goal of agents is to discover an optimal policy that maximizes the expected cumulative rewards. This objective may also be viewed as finding a policy that optimizes a linear function of its state-action…
Reinforcement learning (RL) agents optimize only the features specified in a reward function and are indifferent to anything left out inadvertently. This means that we must not only specify what to do, but also the much larger space of what…
The difficulty in specifying rewards for many real-world problems has led to an increased focus on learning rewards from human feedback, such as demonstrations. However, there are often many different reward functions that explain the human…
Reinforcement Learning (RL) robot controllers usually aggregate many task objectives into one scalar reward. While large-scale proximal policy optimisation (PPO) has enabled impressive results such as robust robot locomotion in the real…
We present Residual Policy Learning (RPL): a simple method for improving nondifferentiable policies using model-free deep reinforcement learning. RPL thrives in complex robotic manipulation tasks where good but imperfect controllers are…
This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…
Self-paced learning (SPL) is a new methodology that simulates the learning principle of humans/animals to start learning easier aspects of a learning task, and then gradually take more complex examples into training. This new-coming…
Standard reinforcement learning (RL) aims to find an optimal policy that identifies the best action for each state. However, in healthcare settings, many actions may be near-equivalent with respect to the reward (e.g., survival). We…
Visuomotor robot policies, increasingly pre-trained on large-scale datasets, promise significant advancements across robotics domains. However, aligning these policies with end-user preferences remains a challenge, particularly when the…
Conventional reinforcement learning (RL) methods can successfully solve a wide range of sequential decision problems. However, learning policies that can generalize predictably across multiple tasks in a setting with non-Markovian reward…
Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…
Reinforcement learning (RL) has demonstrated its ability to solve high dimensional tasks by leveraging non-linear function approximators. However, these successes are mostly achieved by 'black-box' policies in simulated domains. When…
Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…
Large language models (LLMs) excel in tasks like question answering and dialogue, but complex tasks requiring interaction, such as negotiation and persuasion, require additional long-horizon reasoning and planning. Reinforcement learning…
Reinforcement learning (RL) commonly relies on scalar rewards with limited ability to express temporal, conditional, or safety-critical goals, and can lead to reward hacking. Temporal logic expressible via the more general class of…
In numerous reinforcement learning (RL) problems involving safety-critical systems, a key challenge lies in balancing multiple objectives while simultaneously meeting all stringent safety constraints. To tackle this issue, we propose a…
Preference-Based reinforcement learning (PBRL) learns directly from the preferences of human teachers regarding agent behaviors without needing meticulously designed reward functions. However, existing PBRL methods often learn primarily…