相关论文: Self-Imitation Learning for Robot Tasks with Spars…

Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…

In many reinforcement learning (RL) problems, it takes some time until a taken action by the agent reaches its maximum effect on the environment and consequently the agent receives the reward corresponding to that action by a delay called…

Reinforcement Learning (RL) heavily relies on the careful design of the reward function. However, accurately assigning rewards to each state-action pair in Long-Term Reinforcement Learning (LTRL) tasks remains a significant challenge. As a…

Recent research has shown that fine-tuning diffusion models (DMs) with arbitrary rewards, including non-differentiable ones, is feasible with reinforcement learning (RL) techniques, enabling flexible model alignment. However, applying…

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…

Existing reinforcement learning (RL) methods struggle with long-horizon robotic manipulation tasks, particularly those involving sparse rewards. While action chunking is a promising paradigm for robotic manipulation, using RL to directly…

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…

Current reinforcement learning (RL) methods can successfully learn single tasks but often generalize poorly to modest perturbations in task domain or training procedure. In this work, we present a decoupled learning strategy for RL that…

Meta reinforcement learning (meta-RL) aims to learn a policy solving a set of training tasks simultaneously and quickly adapting to new tasks. It requires massive amounts of data drawn from training tasks to infer the common structure…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…

In constrained reinforcement learning (RL), a learning agent seeks to not only optimize the overall reward but also satisfy the additional safety, diversity, or budget constraints. Consequently, existing constrained RL solutions require…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

The objective of many real-world tasks is complex and difficult to procedurally specify. This makes it necessary to use reward or imitation learning algorithms to infer a reward or policy directly from human data. Existing benchmarks for…

Learning robot manipulation through deep reinforcement learning in environments with sparse rewards is a challenging task. In this paper we address this problem by introducing a notion of imaginary object goals. For a given manipulation…

Reinforcement learning (RL) has shown its strength in challenging sequential decision-making problems. The reward function in RL is crucial to the learning performance, as it serves as a measure of the task completion degree. In real-world…

Continuous reinforcement learning such as DDPG and A3C are widely used in robot control and autonomous driving. However, both methods have theoretical weaknesses. While DDPG cannot control noises in the control process, A3C does not satisfy…

Reinforcement learning (RL) is a central problem in artificial intelligence. This problem consists of defining artificial agents that can learn optimal behaviour by interacting with an environment -- where the optimal behaviour is defined…

Episodic tasks in Reinforcement Learning (RL) often pose challenges due to sparse reward signals and high-dimensional state spaces, which hinder efficient learning. Additionally, these tasks often feature hidden "trap states" --…