相关论文: Reward Shaping with Subgoals for Social Navigation

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Reward shaping has been applied widely to accelerate Reinforcement Learning (RL) agents' training. However, a principled way of designing effective reward shaping functions, especially for complex continuous control problems, remains…

As the complexity of tasks addressed through reinforcement learning (RL) increases, the definition of reward functions also has become highly complicated. We introduce an RL method aimed at simplifying the reward-shaping process through…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

The application of reinforcement learning algorithms onto real life problems always bears the challenge of filtering the environmental state out of raw sensor readings. While most approaches use heuristics, biology suggests that there must…

Within the framework of Multi-Agent Reinforcement Learning, Social Learning is a new class of algorithms that enables agents to reshape the reward function of other agents with the goal of promoting cooperation and achieving higher global…

While deep reinforcement learning techniques have led to agents that are successfully able to learn to perform a number of tasks that had been previously unlearnable, these techniques are still susceptible to the longstanding problem of…

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…

Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant behaviors. Social planners usually add costs or constraints…

Reinforcement learning agents learn from rewards, but humans can uniquely assign value to novel, abstract outcomes in a goal-dependent manner. However, this flexibility is cognitively costly, making learning less efficient. Here, we propose…

Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…

Routing vessels through narrow and dynamic waterways is challenging due to changing environmental conditions and operational constraints. Existing vessel-routing studies typically fail to generalize across multiple origin-destination pairs…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Autonomous self-improving robots that interact and improve with experience are key to the real-world deployment of robotic systems. In this paper, we propose an online learning method, SELFI, that leverages online robot experience to…

We investigate the use of animal videos (observations) to improve Reinforcement Learning (RL) efficiency and performance in navigation tasks with sparse rewards. Motivated by theoretical considerations, we make use of weighted policy…

Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…

Humans are able to understand and perform complex tasks by strategically structuring the tasks into incremental steps or subgoals. For a robot attempting to learn to perform a sequential task with critical subgoal states, such states can…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

Deep Reinforcement Learning (DRL) has shown its promising capabilities to learn optimal policies directly from trial and error. However, learning can be hindered if the goal of the learning, defined by the reward function, is "not optimal".…