相关论文: Feature Expansive Reward Learning: Rethinking Huma…

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features…

Reinforcement learning in complex environments is a challenging problem. In particular, the success of reinforcement learning algorithms depends on a well-designed reward function. Inverse reinforcement learning (IRL) solves the problem of…

This paper explores multiple optimization methods to improve the performance of rating-based reinforcement learning (RbRL). RbRL, a method based on the idea of human ratings, has been developed to infer reward functions in reward-free…

Robots can learn the right reward function by querying a human expert. Existing approaches attempt to choose questions where the robot is most uncertain about the human's response; however, they do not consider how easy it will be for the…

Large language models (LLMs) trained with Reinforcement Learning from Human Feedback (RLHF) have demonstrated remarkable capabilities, but their underlying reward functions and decision-making processes remain opaque. This paper introduces…

In the physical world, people have dynamic preferences, e.g., the same situation can lead to satisfaction for some humans and to frustration for others. Personalization is called for. The same observation holds for online behavior with…

Recent years have witnessed many successful trials in the robot learning field. For contact-rich robotic tasks, it is challenging to learn coordinated motor skills by reinforcement learning. Imitation learning solves this problem by using a…

Inverse reinforcement learning (IRL) is computationally challenging, with common approaches requiring the solution of multiple reinforcement learning (RL) sub-problems. This work motivates the use of potential-based reward shaping to reduce…

Reinforcement learning has been successful in training autonomous agents to accomplish goals in complex environments. Although this has been adapted to multiple settings, including robotics and computer games, human players often find it…

Inverse reinforcement learning (IRL) aims to learn a reward function and a corresponding policy that best fit the demonstrated trajectories of an expert. However, current IRL works cannot learn incrementally from an ongoing trajectory…

Reinforcement Learning from Human Feedback (\textbf{RLHF}) has emerged as a dominant approach for aligning LLM outputs with human preferences. Inspired by the success of RLHF, we study the performance of multiple algorithms that learn from…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Exploration of indoor environments has recently experienced a significant interest, also thanks to the introduction of deep neural agents built in a hierarchical fashion and trained with Deep Reinforcement Learning (DRL) on simulated…

Reinforcement learning provides a powerful and general framework for decision making and control, but its application in practice is often hindered by the need for extensive feature and reward engineering. Deep reinforcement learning…

Teaching large language models (LLMs) to reason during post-training typically relies on reinforcement learning with explicit outcome- or process-based reward functions. However, in many real-world settings, obtaining or defining such…

Explicit engineering of reward functions for given environments has been a major hindrance to reinforcement learning methods. While Inverse Reinforcement Learning (IRL) is a solution to recover reward functions from demonstrations only,…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

Reinforcement learning often suffer from the sparse reward issue in real-world robotics problems. Learning from demonstration (LfD) is an effective way to eliminate this problem, which leverages collected expert data to aid online learning.…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…