相关论文: Shaping Rewards for Reinforcement Learning with Im…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

The problem of reinforcement learning is considered where the environment or the model undergoes a change. An algorithm is proposed that an agent can apply in such a problem to achieve the optimal long-time discounted reward. The algorithm…

Social goods, such as healthcare, smart city, and information networks, often produce ordered event data in continuous time. The generative processes of these event data can be very complex, requiring flexible models to capture their…

Despite the increasing popularity of policy gradient methods, they are yet to be widely utilized in sample-scarce applications, such as robotics. The sample efficiency could be improved by making best usage of available information. As a…

Potential-based reward shaping is commonly used to incorporate prior knowledge of how to solve the task into reinforcement learning because it can formally guarantee policy invariance. As such, the optimal policy and the ordering of…

Traditionally, reinforcement learning methods predict the next action based on the current state. However, in many situations, directly applying actions to control systems or robots is dangerous and may lead to unexpected behaviors because…

Model-free reinforcement learning algorithms can compute policy gradients given sampled environment transitions, but require large amounts of data. In contrast, model-based methods can use the learned model to generate new data, but model…

Most model-free reinforcement learning methods leverage state representations (embeddings) for generalization, but either ignore structure in the space of actions or assume the structure is provided a priori. We show how a policy can be…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Model-free reinforcement learning (RL) is a powerful approach for learning control policies directly from high-dimensional state and observation. However, it tends to be data-inefficient, which is especially costly in robotic learning…

Foundation models contain a wealth of information from their vast number of training samples. However, most prior arts fail to extract this information in a precise and efficient way for small sample sizes. In this work, we propose a…

Reinforcement Learning (RL) has progressed from simple control tasks to complex real-world challenges with large state spaces. While RL excels in these tasks, training time remains a limitation. Reward shaping is a popular solution, but…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Flow-matching policies have emerged as a powerful paradigm for generalist robotics. These models are trained to imitate an action chunk, conditioned on sensor observations and textual instructions. Often, training demonstrations are…

Recent advances have shown that video generation models can enhance robot learning by deriving effective robot actions through inverse dynamics. However, these methods heavily depend on the quality of generated data and struggle with…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…