相关论文: XIRL: Cross-embodiment Inverse Reinforcement Learn…

We present a self-supervised Contrastive Video Representation Learning (CVRL) method to learn spatiotemporal visual representations from unlabeled videos. Our representations are learned using a contrastive loss, where two augmented clips…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

The alignment between humans and machines is a critical challenge in artificial intelligence today. Reinforcement learning, which aims to maximize a reward function, is particularly vulnerable to the risks associated with poorly designed…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

This article studies inverse reinforcement learning (IRL) for the stochastic linear-quadratic optimal control problem, where two agents are considered. A learner agent does not know the expert agent's performance cost function, but it…

Visual understanding is inherently intention-driven - humans selectively focus on different regions of a scene based on their goals. Recent advances in large multimodal models (LMMs) enable flexible expression of such intentions through…

The problem of inverse reinforcement learning (IRL) is relevant to a variety of tasks including value alignment and robot learning from demonstration. Despite significant algorithmic contributions in recent years, IRL remains an ill-posed…

Deep Learning has become interestingly popular in computer vision, mostly attaining near or above human-level performance in various vision tasks. But recent work has also demonstrated that these deep neural networks are very vulnerable to…

Making decisions in complex driving environments is a challenging task for autonomous agents. Imitation learning methods have great potentials for achieving such a goal. Adversarial Inverse Reinforcement Learning (AIRL) is one of the…

Learning manipulation skills from human demonstration videos presents a promising yet challenging problem, primarily due to the significant embodiment gap between human body and robot manipulators. Existing methods rely on paired datasets…

Designing effective task sequences is crucial for curriculum reinforcement learning (CRL), where agents must gradually acquire skills by training on intermediate tasks. A key challenge in CRL is to identify tasks that promote exploration,…

Bayesian inverse reinforcement learning (IRL) methods are ideal for safe imitation learning, as they allow a learning agent to reason about reward uncertainty and the safety of a learned policy. However, Bayesian IRL is computationally…

Recent works have advanced the performance of self-supervised representation learning by a large margin. The core among these methods is intra-image invariance learning. Two different transformations of one image instance are considered as…

Current image-based reinforcement learning (RL) algorithms typically operate on the whole image without performing object-level reasoning. This leads to inefficient goal sampling and ineffective reward functions. In this paper, we improve…

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…

We study inverse reinforcement learning (IRL) and imitation learning (IM), the problems of recovering a reward or policy function from expert's demonstrated trajectories. We propose a new way to improve the learning process by adding a…

This paper tackles a new problem setting: reinforcement learning with pixel-wise rewards (pixelRL) for image processing. After the introduction of the deep Q-network, deep RL has been achieving great success. However, the applications of…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

We propose SCVRL, a novel contrastive-based framework for self-supervised learning for videos. Differently from previous contrast learning based methods that mostly focus on learning visual semantics (e.g., CVRL), SCVRL is capable of…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…