相关论文: Hierarchical Potential-based Reward Shaping from T…

Sparse rewards are a major bottleneck in multi-agent reinforcement learning (MARL), where simultaneous learning induces non-stationarity and makes reward design especially delicate. Reward shaping can accelerate learning, but in the…

Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each other if avoiding a collision calls for slamming the brakes. To resolve such conflicts, assigning importance…

Conversational Recommender Systems (CRS) actively elicit user preferences to generate adaptive recommendations. Mainstream reinforcement learning-based CRS solutions heavily rely on handcrafted reward functions, which may not be aligned…

Reward shaping is critical in reinforcement learning (RL), particularly for complex tasks where sparse rewards can hinder learning. However, choosing effective shaping rewards from a set of reward functions in a computationally efficient…

In human-robot interaction (HRI) systems, such as autonomous vehicles, understanding and representing human behavior are important. Human behavior is naturally rich and diverse. Cost/reward learning, as an efficient way to learn and…

Many continuous control tasks have easily formulated objectives, yet using them directly as a reward in reinforcement learning (RL) leads to suboptimal policies. Therefore, many classical control tasks guide RL training using complex…

Reward design is a fundamental, yet challenging aspect of reinforcement learning (RL). Researchers typically utilize feedback signals from the environment to handcraft a reward function, but this process is not always effective due to the…

In this work, we provide theoretical guarantees for reward decomposition in deterministic MDPs. Reward decomposition is a special case of Hierarchical Reinforcement Learning, that allows one to learn many policies in parallel and combine…

Reinforcement learning involves agents interacting with an environment to complete tasks. When rewards provided by the environment are sparse, agents may not receive immediate feedback on the quality of actions that they take, thereby…

We provide a framework for accelerating reinforcement learning (RL) algorithms by heuristics constructed from domain knowledge or offline data. Tabula rasa RL algorithms require environment interactions or computation that scales with the…

Reward Models (RMs) are crucial for online alignment of language models (LMs) with human preferences. However, RM-based preference-tuning is vulnerable to reward hacking, whereby LM policies learn undesirable behaviors from flawed RMs. By…

In many reinforcement learning (RL) applications, augmenting the task rewards with heuristic rewards that encode human priors about how a task should be solved is crucial for achieving desirable performance. However, because such heuristics…

Recently there has been a proliferation of intrinsic motivation (IM) reward-shaping methods to learn in complex and sparse-reward environments. These methods can often inadvertently change the set of optimal policies in an environment,…

Reinforcement Learning (RL) has progressed from simple control tasks to complex real-world challenges with large state spaces. While RL excels in these tasks, training time remains a limitation. Reward shaping is a popular solution, but…

Reinforcement learning is a powerful learning paradigm in which agents can learn to maximize sparse and delayed reward signals. Although RL has had many impressive successes in complex domains, learning can take hours, days, or even years…

Reinforcement learning (RL) algorithms struggle with learning optimal policies for tasks where reward feedback is sparse and depends on a complex sequence of events in the environment. Probabilistic reward machines (PRMs) are finite-state…

This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…

To improve the efficiency of warehousing system and meet huge customer orders, we aim to solve the challenges of dimension disaster and dynamic properties in hyper scale multi-robot task planning (MRTP) for robotic mobile fulfillment system…

This paper augments the reward received by a reinforcement learning agent with potential functions in order to help the agent learn (possibly stochastic) optimal policies. We show that a potential-based reward shaping scheme is able to…

Designing optimal reward functions has been desired but extremely difficult in reinforcement learning (RL). When it comes to modern complex tasks, sophisticated reward functions are widely used to simplify policy learning yet even a tiny…