相关论文: Generalized Inverse Planning: Learning Lifted non-…

Meta-Reinforcement Learning addresses the critical limitations of conventional Reinforcement Learning in multi-task and non-stationary environments by enabling fast policy adaptation and improved generalization. We introduce a novel Meta-RL…

Discovering an informative, or agent-centric, state representation that encodes only the relevant information while discarding the irrelevant is a key challenge towards scaling reinforcement learning algorithms and efficiently applying them…

Imitation learning often needs a large demonstration set in order to handle the full range of situations that an agent might find itself in during deployment. However, collecting expert demonstrations can be expensive. Recent work in…

Due to the realization that deep reinforcement learning algorithms trained on high-dimensional tasks can strongly overfit to their training environments, there have been several studies that investigated the generalization performance of…

This monograph, spanning three chapters, explores Inverse Reinforcement Learning (IRL). The first two chapters view inverse reinforcement learning (IRL) through the lens of revealed preferences from microeconomics while the third chapter…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…

Inferring the intent of an intelligent agent from demonstrations and subsequently predicting its behavior, is a critical task in many collaborative settings. A common approach to solve this problem is the framework of inverse reinforcement…

A crucial aspect in reliable machine learning is to design a deployable system in generalizing new related but unobserved environments. Domain generalization aims to alleviate such a prediction gap between the observed and unseen…

Model-based Reinforcement Learning (RL) is a popular learning paradigm due to its potential sample efficiency compared to model-free RL. However, existing empirical model-based RL approaches lack the ability to explore. This work studies a…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

We propose a distributional framework for offline Inverse Reinforcement Learning (IRL) that jointly models uncertainty over reward functions and full distributions of returns. Unlike conventional IRL approaches that recover a deterministic…

In-context learning (ICL) is a remarkable capability of pretrained transformers that allows models to generalize to unseen tasks after seeing only a few examples. We investigate empirically the conditions necessary on the pretraining…

A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this challenge through the following invariance principle: an agent…

Incremental learning (IL) aims to overcome catastrophic forgetting of previous tasks while learning new ones. Existing IL methods make strong assumptions that the incoming task type will either only increases new classes or domains (i.e.…

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…

In this work, we consider one-shot imitation learning for object rearrangement tasks, where an AI agent needs to watch a single expert demonstration and learn to perform the same task in different environments. To achieve a strong…

We present the problem of inverse constraint learning (ICL), which recovers constraints from demonstrations to autonomously reproduce constrained skills in new scenarios. However, ICL suffers from an ill-posed nature, leading to inaccurate…

We provide new perspectives and inference algorithms for Maximum Entropy (MaxEnt) Inverse Reinforcement Learning (IRL), which provides a principled method to find a most non-committal reward function consistent with given expert…

Robotic systems operating in dynamic and uncertain environments increasingly require planners that satisfy complex task sequences while adhering to strict temporal constraints. Metric Interval Temporal Logic (MITL) offers a formal and…

The aim of Inverse Reinforcement Learning (IRL) is to infer a reward function $R$ from a policy $\pi$. To do this, we need a model of how $\pi$ relates to $R$. In the current literature, the most common models are optimality, Boltzmann…