相关论文: Marginal MAP Estimation for Inverse RL under Occlu…

The maximum a-posteriori (MAP) perturbation framework has emerged as a useful approach for inference and learning in high dimensional complex models. By maximizing a randomly perturbed potential function, MAP perturbations generate unbiased…

Various methods for solving the inverse reinforcement learning (IRL) problem have been developed independently in machine learning and economics. In particular, the method of Maximum Causal Entropy IRL is based on the perspective of entropy…

In real-world scenarios, the observation data for reinforcement learning with continuous control is commonly noisy and part of it may be dynamically missing over time, which violates the assumption of many current methods developed for…

We introduce a Noise-based prior Learning (NoL) approach for training neural networks that are intrinsically robust to adversarial attacks. We find that the implicit generative modeling of random noise with the same loss function used…

A popular approach to apprenticeship learning (AL) is to formulate it as an inverse reinforcement learning (IRL) problem. The MaxEnt-IRL algorithm successfully integrates the maximum entropy principle into IRL and unlike its predecessors,…

We study the use of inverse reinforcement learning (IRL) as a tool for the recognition of agents' behavior on the basis of observation of their sequential decision behavior interacting with the environment. We model the problem faced by the…

Arising from many applications at the intersection of decision making and machine learning, Marginal Maximum A Posteriori (Marginal MAP) Problems unify the two main classes of inference, namely maximization (optimization) and marginal…

In this paper we consider filtering and smoothing of partially observed chaotic dynamical systems that are discretely observed, with an additive Gaussian noise in the observation. These models are found in a wide variety of real…

In practical applications, we can rarely assume full observability of a system's environment, despite such knowledge being important for determining a reactive control system's precise interaction with its environment. Therefore, we propose…

The objective of offline RL is to learn optimal policies when a fixed exploratory demonstrations data-set is available and sampling additional observations is impossible (typically if this operation is either costly or rises ethical…

Current orthogonal matching pursuit (OMP) algorithms calculate the correlation between two vectors using the inner product operation and minimize the mean square error, which are both suboptimal when there are non-Gaussian noises or…

This paper focuses on inverse reinforcement learning (IRL) to enable safe and efficient autonomous navigation in unknown partially observable environments. The objective is to infer a cost function that explains expert-demonstrated…

A fundamental question in neuroscience is how the brain creates an internal model of the world to guide actions using sequences of ambiguous sensory information. This is naturally formulated as a reinforcement learning problem under partial…

In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve…

We consider a Bayesian approach to offline model-based inverse reinforcement learning (IRL). The proposed framework differs from existing offline model-based IRL approaches by performing simultaneous estimation of the expert's reward…

Human demonstration data is often ambiguous and incomplete, motivating imitation learning approaches that also exhibit reliable planning behavior. A common paradigm to perform planning-from-demonstration involves learning a reward function…

The marginal maximum a posteriori probability (MAP) estimation problem, which calculates the mode of the marginal posterior distribution of a subset of variables with the remaining variables marginalized, is an important inference problem…

Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronounced. While perception information, such as height map,…

This paper investigates the application of Minimal Observation Inverse Reinforcement Learning (MO-IRL) to model and predict human arm-reaching movements with time-varying cost weights. Using a planar two-link biomechanical model and…

The sequential nature of decision-making in financial asset trading aligns naturally with the reinforcement learning (RL) framework, making RL a common approach in this domain. However, the low signal-to-noise ratio in financial markets…