相关论文: GridToPix: Training Embodied Agents with Minimal S…

Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…

Deep reinforcement learning approaches have been a popular method for visual navigation tasks in the computer vision and robotics community of late. In most cases, the reward function has a binary structure, i.e., a large positive reward is…

Reinforcement learning (RL) with sparse and deceptive rewards is challenging because non-zero rewards are rarely obtained. Hence, the gradient calculated by the agent can be stochastic and without valid information. Recent studies that…

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…

The remarkable progress of reinforcement learning (RL) is intrinsically tied to the environments used to train and evaluate artificial agents. Moving beyond traditional qualitative reviews, this work presents a large-scale, data-driven…

Preference-based reinforcement learning (RL) algorithms help avoid the pitfalls of hand-crafted reward functions by distilling them from human preference feedback, but they remain impractical due to the burdensome number of labels required…

Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of general-purpose embodied intelligence. Large language models…

Agents that can learn to imitate given video observation -- \emph{without direct access to state or action information} are more applicable to learning in the natural world. However, formulating a reinforcement learning (RL) agent that…

Multi-turn human-AI collaboration is fundamental to deploying interactive services such as adaptive tutoring, conversational recommendation, and professional consultation. However, optimizing these interactions via reinforcement learning is…

Deep reinforcement Learning for end-to-end driving is limited by the need of complex reward engineering. Sparse rewards can circumvent this challenge but suffers from long training time and leads to sub-optimal policy. In this work, we…

For sparse, structured reinforcement-learning tasks with semantic reward-function interfaces, LLM-generated reward shaping is better framed as debugging than one-shot generation. We study PPO-trained agents using MiniGrid as core evaluation…

Object pushing presents a key non-prehensile manipulation problem that is illustrative of more complex robotic manipulation tasks. While deep reinforcement learning (RL) methods have demonstrated impressive learning capabilities using…

Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards that drive truly dynamic, goal-oriented behaviors. Commands…

Federated graph representation learning (FedGRL) brings the benefits of distributed training to graph structured data while simultaneously addressing some privacy and compliance concerns related to data curation. However, several…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Previous research has sought to enhance the graph reasoning capabilities of LLMs by supervised fine-tuning on synthetic graph data. While these led to specialized LLMs better at solving graph algorithm problems, we don't need LLMs for…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

Deep reinforcement learning (DRL) is a promising approach to solve complex control tasks by learning policies through interactions with the environment. However, the training of DRL policies requires large amounts of training experiences,…

Failure is inevitable for embodied navigation in complex environments. To enhance the resilience, replanning (RP) is a viable option, where the robot is allowed to fail, but is capable of adjusting plan until success. However, existing RP…

This paper investigates Reinforcement Learning (RL) approaches to enhance the reasoning capabilities of Large Language Model (LLM) agents in long-horizon, multi-turn scenarios. Although RL algorithms such as Group Relative Policy…