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In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…
Preference-based Reinforcement Learning (PbRL) methods provide a solution to avoid reward engineering by learning reward models based on human preferences. However, poor feedback- and sample- efficiency still remain the problems that hinder…
In this paper, we investigate preference-based reinforcement learning (PbRL), which enables reinforcement learning (RL) agents to learn from human feedback. This is particularly valuable when defining a fine-grain reward function is not…
Reinforcement learning (RL) and model predictive control (MPC) offer a wealth of distinct approaches for automatic decision-making under uncertainty. Given the impact both fields have had independently across numerous domains, there is…
Hybrid action models are widely considered an effective approach to reinforcement learning (RL) modeling. The current mainstream method is to train agents under Parameterized Action Markov Decision Processes (PAMDPs), which performs well in…
Preference-based reinforcement learning (PbRL) aligns a robot behavior with human preferences via a reward function learned from binary feedback over agent behaviors. We show that dynamics-aware reward functions improve the sample…
Gaining insights into the preferences of new users and subsequently personalizing recommendations necessitate managing user interactions intelligently, namely, posing pertinent questions to elicit valuable information effectively. In this…
Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…
Active learning (AL) is a widely-used training strategy for maximizing predictive performance subject to a fixed annotation budget. In AL one iteratively selects training examples for annotation, often those for which the current model is…
Active learning is a machine learning approach for reducing the data labeling effort. Given a pool of unlabeled samples, it tries to select the most useful ones to label so that a model built from them can achieve the best possible…
Learning a reward function from human preferences is challenging as it typically requires having a high-fidelity simulator or using expensive and potentially unsafe actual physical rollouts in the environment. However, in many tasks the…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
RLHF has emerged as a predominant approach for aligning artificial intelligence systems with human preferences, demonstrating exceptional and measurable efficacy in instruction following tasks; however, it exhibits insufficient compliance…
By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…
Preference-based reinforcement learning (PbRL) provides a natural way to align RL agents' behavior with human desired outcomes, but is often restrained by costly human feedback. To improve feedback efficiency, most existing PbRL methods…
Large foundation models pretrained on raw web-scale data are not readily deployable without additional step of extensive alignment to human preferences. Such alignment is typically done by collecting large amounts of pairwise comparisons…
This paper focuses on reinforcement learning (RL) with limited prior knowledge. In the domain of swarm robotics for instance, the expert can hardly design a reward function or demonstrate the target behavior, forbidding the use of both…
Model-Predictive Control (MPC) is a powerful tool for controlling complex, real-world systems that uses a model to make predictions about future behavior. For each state encountered, MPC solves an online optimization problem to choose a…
Active learning (AL) reduces the amount of labeled data needed to train a machine learning model by intelligently choosing which instances to label. Classic pool-based AL requires all data to be present in a datacenter, which can be…
In this article, a model predictive control (MPC) method is proposed for constrained linear systems to track bounded references with arbitrary dynamics. Besides control inputs to be determined, artificial reference is introduced as…