Related papers: Human-in-the-loop Online Rejection Sampling for Ro…

In human-in-the-loop reinforcement learning or environments where calculating a reward is expensive, the costly rewards can make learning efficiency challenging to achieve. The cost of obtaining feedback from humans or calculating expensive…

Recent advances in learning decision-making policies can largely be attributed to training expressive policy models, largely via imitation learning. While imitation learning discards non-expert data, reinforcement learning (RL) can still…

Reinforcement learning (RL)-based fine-tuning has emerged as a powerful approach for aligning diffusion models with black-box objectives. Proximal policy optimization (PPO) is a popular choice of method for policy optimization. While…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

Inverse Reinforcement Learning (IRL) is attractive in scenarios where reward engineering can be tedious. However, prior IRL algorithms use on-policy transitions, which require intensive sampling from the current policy for stable and…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Reinforcement learning (RL) plays a central role in improving the reasoning and alignment of large language models, yet its efficiency critically depends on how training data are selected. Existing online selection strategies predominantly…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

Reinforcement learning (RL) is a sub-domain of machine learning, mainly concerned with solving sequential decision-making problems by a learning agent that interacts with the decision environment to improve its behavior through the reward…

Link adaptation (LA) is an essential function in modern wireless communication systems that dynamically adjusts the transmission rate of a communication link to match time- and frequency-varying radio link conditions. However, factors such…

This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

Hindsight Experience Replay (HER) is a technique used in reinforcement learning (RL) that has proven to be very efficient for training off-policy RL-based agents to solve goal-based robotic manipulation tasks using sparse rewards. Even…

Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…

Graphical User Interface (GUI) agents have demonstrated remarkable progress in automating complex user interface interactions through reinforcement learning. However, current approaches face a fundamental dilemma: offline RL enables stable…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

To create useful reinforcement learning (RL) agents, step zero is to design a suitable reward function that captures the nuances of the task. However, reward engineering can be a difficult and time-consuming process. Instead,…

Interactive adaptive systems powered by Reinforcement Learning (RL) have many potential applications, such as intelligent tutoring systems. In such systems there is typically an external human system designer that is creating, monitoring…