相关论文: Curiosity-Driven Multi-Criteria Hindsight Experien…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

We present a new computing model for intrinsic rewards in reinforcement learning that addresses the limitations of existing surprise-driven explorations. The reward is the novelty of the surprise rather than the surprise norm. We estimate…

Human feedback can greatly accelerate robot learning, but in real-world settings, such feedback is costly and limited. Existing human-in-the-loop reinforcement learning (HiL-RL) methods often assume abundant feedback, limiting their…

Extrinsic rewards can effectively guide reinforcement learning (RL) agents in specific tasks. However, extrinsic rewards frequently fall short in complex environments due to the significant human effort needed for their design and…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

Realistic environments often provide agents with very limited feedback. When the environment is initially unknown, the feedback, in the beginning, can be completely absent, and the agents may first choose to devote all their effort on…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Exploration is essential in reinforcement learning, particularly in environments where external rewards are sparse. Here we focus on exploration with intrinsic rewards, where the agent transiently augments the external rewards with…

Sparse reward is one of the most challenging problems in reinforcement learning (RL). Hindsight Experience Replay (HER) attempts to address this issue by converting a failed experience to a successful one by relabeling the goals. Despite…

Deep reinforcement learning has achieved many impressive results in recent years. However, tasks with sparse rewards or long horizons continue to pose significant challenges. To tackle these important problems, we propose a general…

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…

We hypothesize that curiosity is a mechanism found by evolution that encourages meaningful exploration early in an agent's life in order to expose it to experiences that enable it to obtain high rewards over the course of its lifetime. We…

Reward design in reinforcement learning and optimal control is challenging. Preference-based alignment addresses this by enabling agents to learn rewards from ranked trajectory pairs provided by humans. However, existing methods often…

Recent advances in sparse reward policy gradient methods have enabled effective reinforcement learning (RL)-based language model post-training. However, for reasoning tasks such as mathematical problem solving, binarized outcome rewards…

Meta reinforcement learning (meta-RL) extracts knowledge from previous tasks and achieves fast adaptation to new tasks. Despite recent progress, efficient exploration in meta-RL remains a key challenge in sparse-reward tasks, as it requires…

Curiosity is a vital metacognitive skill in educational contexts, leading to creativity, and a love of learning. And while many school systems increasingly undercut curiosity by teaching to the test, teachers are increasingly interested in…

Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…

Long-term temporal credit assignment is an important challenge in deep reinforcement learning (RL). It refers to the ability of the agent to attribute actions to consequences that may occur after a long time interval. Existing…

This work in the field of developmental cognitive robotics aims to devise a new domain bridging between reinforcement learning and imitation learning, with a model of the intrinsic motivation for learning agents to learn with guidance from…

This paper proposes a novel learning-based framework for autonomous driving based on the concept of maximal safety probability. Efficient learning requires rewards that are informative of desirable/undesirable states, but such rewards are…