相关论文: Density-based Curriculum for Multi-goal Reinforcem…

In reinforcement learning (RL), agents continually interact with the environment and use the feedback to refine their behavior. To guide policy optimization, reward models are introduced as proxies of the desired objectives, such that when…

The purpose of this technical report is two-fold. First of all, it introduces a suite of challenging continuous control tasks (integrated with OpenAI Gym) based on currently existing robotics hardware. The tasks include pushing, sliding and…

Recent years have seen an explosion of interest in autonomous cyber defence agents trained to defend computer networks using deep reinforcement learning. These agents are typically trained in cyber gym environments using dense, highly…

Resource-constrained robots often suffer from energy inefficiencies, underutilized computational abilities due to inadequate task allocation, and a lack of robustness in dynamic environments, all of which strongly affect their performance.…

Model-based reinforcement learning (MBRL) has gained much attention for its ability to learn complex behaviors in a sample-efficient way: planning actions by generating imaginary trajectories with predicted rewards. Despite its success, we…

Designing dense rewards is crucial for reinforcement learning (RL), yet in robotics it often demands extensive manual effort and lacks scalability. One promising solution is to view task progress as a dense reward signal, as it quantifies…

The complexity of designing reward functions has been a major obstacle to the wide application of deep reinforcement learning (RL) techniques. Describing an agent's desired behaviors and properties can be difficult, even for experts. A new…

This research focuses on enhancing reinforcement learning (RL) algorithms by integrating penalty functions to guide agents in avoiding unwanted actions while optimizing rewards. The goal is to improve the learning process by ensuring that…

We study the problem of predicting and controlling the future state distribution of an autonomous agent. This problem, which can be viewed as a reframing of goal-conditioned reinforcement learning (RL), is centered around learning a…

This work considers two distinct settings: imitation learning and goal-conditioned reinforcement learning. In either case, effective solutions require the agent to reliably reach a specified state (a goal), or set of states (a…

Deep reinforcement learning in partially observable environments is a difficult task in itself, and can be further complicated by a sparse reward signal. Most tasks involving navigation in three-dimensional environments provide the agent…

Recent advancements have shown that reinforcement learning (RL) can substantially improve the reasoning abilities of large language models (LLMs). The effectiveness of such RL training, however, depends critically on the exploration space…

In spite of the success of existing meta reinforcement learning methods, they still have difficulty in learning a meta policy effectively for RL problems with sparse reward. In this respect, we develop a novel meta reinforcement learning…

A major challenge in real-world reinforcement learning (RL) is the sparsity of reward feedback. Often, what is available is an intuitive but sparse reward function that only indicates whether the task is completed partially or fully.…

Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces training in simulated environments. Even in simulation,…

Conveying complex objectives to reinforcement learning (RL) agents often requires meticulous reward engineering. Preference-based RL methods are able to learn a more flexible reward model based on human preferences by actively incorporating…

In order for autonomous mobile robots to navigate in human spaces, they must abide by our social norms. Reinforcement learning (RL) has emerged as an effective method to train sequential decision-making policies that are able to respect…

Learning optimal policies from sparse feedback is a known challenge in reinforcement learning. Hindsight Experience Replay (HER) is a multi-goal reinforcement learning algorithm that comes to solve such tasks. The algorithm treats every…

Unsupervised Reinforcement Learning (RL) aims to discover diverse behaviors that can accelerate the learning of downstream tasks. Previous methods typically focus on entropy-based exploration or empowerment-driven skill learning. However,…

Imitation learning is an effective alternative approach to learn a policy when the reward function is sparse. In this paper, we consider a challenging setting where an agent and an expert use different actions from each other. We assume…