相关论文: Shaping Proto-Value Functions via Rewards

Recent unsupervised pre-training methods have shown to be effective on language and vision domains by learning useful representations for multiple downstream tasks. In this paper, we investigate if such unsupervised pre-training methods can…

Crowd simulation is important for video-games design, since it enables to populate virtual worlds with autonomous avatars that navigate in a human-like manner. Reinforcement learning has shown great potential in simulating virtual crowds,…

As people learn to navigate the world, autonomic nervous system (e.g., "fight or flight") responses provide intrinsic feedback about the potential consequence of action choices (e.g., becoming nervous when close to a cliff edge or driving…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Well-designed dense reward functions in robot manipulation not only indicate whether a task is completed but also encode progress along the way. Generally, designing dense rewards is challenging and usually requires access to privileged…

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…

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…

Reward functions are difficult to design and often hard to align with human intent. Preference-based Reinforcement Learning (RL) algorithms address these problems by learning reward functions from human feedback. However, the majority of…

Learning a reward function from demonstrations suffers from low sample-efficiency. Even with abundant data, current inverse reinforcement learning methods that focus on learning from a single environment can fail to handle slight changes in…

In most of the transfer learning approaches to reinforcement learning (RL) the distribution over the tasks is assumed to be stationary. Therefore, the target and source tasks are i.i.d. samples of the same distribution. In the context of…

We introduce the forward-backward (FB) representation of the dynamics of a reward-free Markov decision process. It provides explicit near-optimal policies for any reward specified a posteriori. During an unsupervised phase, we use…

For adversarial imitation learning algorithms (AILs), no true rewards are obtained from the environment for learning the strategy. However, the pseudo rewards based on the output of the discriminator are still required. Given the implicit…

Predictive state representations (PSRs) are models of controlled non-Markov observation sequences which exhibit the same generative process governing POMDP observations without relying on an underlying latent state. In that respect, a PSR…

Specifying reward signals that allow agents to learn complex behaviors is a long-standing challenge in reinforcement learning. A promising approach is to extract preferences for behaviors from unlabeled videos, which are widely available on…

Reinforcement learning with verifiable rewards has driven recent advances in LLM post-training, in particular for reasoning. Policy optimization algorithms generate a number of responses for a given prompt and then effectively weight the…

Designing fair compensation mechanisms for demand response (DR) is challenging. This paper models the problem in a game theoretic setting and designs a payment distribution mechanism based on the Shapley Value. As exact computation of the…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

To perform robot manipulation tasks, a low-dimensional state of the environment typically needs to be estimated. However, designing a state estimator can sometimes be difficult, especially in environments with deformable objects. An…

Reward functions are a common way to specify the objective of a robot. As designing reward functions can be extremely challenging, a more promising approach is to directly learn reward functions from human teachers. Importantly, data from…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…