Related papers: Revisiting Bisimulation Metric for Robust Represen…

Exposure bias describes the phenomenon that a language model trained under the teacher forcing schema may perform poorly at the inference stage when its predictions are conditioned on its previous predictions unseen from the training…

No real-world reward function is perfect. Sensory errors and software bugs may result in RL agents observing higher (or lower) rewards than they should. For example, a reinforcement learning agent may prefer states where a sensory error…

When feedback is absorbed faster than task structure can be evaluated, the learner will favor feedback over truth. A two-timescale model shows this feedback-truth gap is inevitable whenever the two rates differ and vanishes only when they…

In reinforcement learning with image-based inputs, it is crucial to establish a robust and generalizable state representation. Recent advancements in metric learning, such as deep bisimulation metric approaches, have shown promising results…

Model-free reinforcement learning methods lack an inherent mechanism to impose behavioural constraints on the trained policies. Although certain extensions exist, they remain limited to specific types of constraints, such as value…

This paper presents Dual Action Policy (DAP), a novel approach to address the dynamics mismatch inherent in the sim-to-real gap of reinforcement learning. DAP uses a single policy to predict two sets of actions: one for maximizing task…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…

Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…

Reinforcement learning with human feedback for aligning large language models (LLMs) trains a reward model typically using ranking loss with comparison pairs.However, the training procedure suffers from an inherent problem: the uncontrolled…

This paper investigates the so-called reward-balancing methods, a novel class of algorithms for solving discounted-return reinforcement learning (RL) problems. These methods consist of iteratively adjusting the reward function to transform…

Machine learning (especially reinforcement learning) methods for trading are increasingly reliant on simulation for agent training and testing. Furthermore, simulation is important for validation of hand-coded trading strategies and for…

The objective of this research is to enable safety-critical systems to simultaneously learn and execute optimal control policies in a safe manner to achieve complex autonomy. Learning optimal policies via trial and error, i.e., traditional…

Reward machines are an established tool for dealing with reinforcement learning problems in which rewards are sparse and depend on complex sequences of actions. However, existing algorithms for learning reward machines assume an overly…

In addressing control problems such as regulation and tracking through reinforcement learning, it is often required to guarantee that the acquired policy meets essential performance and stability criteria such as a desired settling time and…

Model-based reinforcement learning is a promising learning strategy for practical robotic applications due to its improved data-efficiency versus model-free counterparts. However, current state-of-the-art model-based methods rely on shaped…

Recent years have seen growing interest in learning disentangled representations, in which distinct features, such as size or shape, are represented by distinct neurons. Quantifying the extent to which a given representation is disentangled…

This paper proposes a novel robust reinforcement learning framework for discrete-time linear systems with model mismatch that may arise from the sim-to-real gap. A key strategy is to invoke advanced techniques from control theory. Using the…

After four decades of research there still exists a Classification accuracy gap of about 20% between our best Unsupervisedly Learned Representations methods and the accuracy rates achieved by intelligent animals. It thus may well be that we…