相关论文: Learning from Suboptimal Demonstration via Self-Su…

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…

Learning to produce efficient movement behaviour for humanoid robots from scratch is a hard problem, as has been illustrated by the "Learning to run" competition at NIPS 2017. The goal of this competition was to train a two-legged model of…

A critical need in assistive robotics, such as assistive wheelchairs for navigation, is a need to learn task intent and safety guarantees through user interactions in order to ensure safe task performance. For tasks where the objectives…

Learning from Demonstration (LfD) can be an efficient way to train systems with analogous agents by enabling ``Student'' agents to learn from the demonstrations of the most experienced ``Teacher'' agent, instead of training their policy in…

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…

TAMER has proven to be a powerful interactive reinforcement learning method for allowing ordinary people to teach and personalize autonomous agents' behavior by providing evaluative feedback. However, a TAMER agent planning with UCT---a…

The goal of learning from demonstrations is to learn a policy for an agent (imitator) by mimicking the behavior in the demonstrations. Prior works on learning from demonstrations assume that the demonstrations are collected by a…

In inverse reinforcement learning (IRL), a learning agent infers a reward function encoding the underlying task using demonstrations from experts. However, many existing IRL techniques make the often unrealistic assumption that the agent…

Inverse reinforcement learning (IRL) is an imitation learning approach to learning reward functions from expert demonstrations. Its use avoids the difficult and tedious procedure of manual reward specification while retaining the…

In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD ) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass…

In reinforcement learning (RL), different reward functions can define the same optimal policy but result in drastically different learning performance. For some, the agent gets stuck with a suboptimal behavior, and for others, it solves the…

The performance of imitation learning is typically upper-bounded by the performance of the demonstrator. While recent empirical results demonstrate that ranked demonstrations allow for better-than-demonstrator performance, preferences over…

Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…

Inverse reinforcement learning (IRL) aims to infer a reward from expert demonstrations, motivated by the idea that the reward, rather than the policy, is the most succinct and transferable description of a task [Ng et al., 2000]. However,…

Learning reward functions from data is a promising path towards achieving scalable Reinforcement Learning (RL) for robotics. However, a major challenge in training agents from learned reward models is that the agent can learn to exploit…

To create useful reinforcement learning (RL) agents, step zero is to design a suitable reward function that captures the nuances of the task. However, reward engineering can be a difficult and time-consuming process. Instead,…

Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…

Imitation learning often assumes that demonstrations are close to optimal according to some fixed, but unknown, cost function. However, according to satisficing theory, humans often choose acceptable behavior based on their personal (and…

Learning from demonstrations is a popular tool for accelerating and reducing the exploration requirements of reinforcement learning. When providing expert demonstrations to human students, we know that the demonstrations must fall within a…