相关论文: Efficient Reinforcement Learning from Demonstratio…

This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective…

This paper discusses an Enhanced Model-Agnostic Meta-Learning (E-MAML) algorithm that generates fast convergence of the policy function from a small number of training examples when applied to new learning tasks. Built on top of…

Standard model-free deep reinforcement learning (RL) algorithms sample a new initial state for each trial, allowing them to optimize policies that can perform well even in highly stochastic environments. However, problems that exhibit…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

We investigate the task of learning to follow natural language instructions by jointly reasoning with visual observations and language inputs. In contrast to existing methods which start with learning from demonstrations (LfD) and then use…

We present an algorithm for local, regularized, policy improvement in reinforcement learning (RL) that allows us to formulate model-based and model-free variants in a single framework. Our algorithm can be interpreted as a natural extension…

Deep reinforcement learning algorithms require large amounts of experience to learn an individual task. While in principle meta-reinforcement learning (meta-RL) algorithms enable agents to learn new skills from small amounts of experience,…

This paper proposes a sample-efficient yet simple approach to learning closed-loop policies for nonprehensile manipulation. Although reinforcement learning (RL) can learn closed-loop policies without requiring access to underlying physics…

Multi-robot systems can benefit from reinforcement learning (RL) algorithms that learn behaviours in a small number of trials, a property known as sample efficiency. This research thus investigates the use of learned world models to improve…

Flocking control is a challenging problem, where multiple agents, such as drones or vehicles, need to reach a target position while maintaining the flock and avoiding collisions with obstacles and collisions among agents in the environment.…

We present LARL-RM (Large language model-generated Automaton for Reinforcement Learning with Reward Machine) algorithm in order to encode high-level knowledge into reinforcement learning using automaton to expedite the reinforcement…

In Imitation Learning (IL), utilizing suboptimal and heterogeneous demonstrations presents a substantial challenge due to the varied nature of real-world data. However, standard IL algorithms consider these datasets as homogeneous, thereby…

Robot control problems are often structured with a policy function that maps state values into control values, but in many dynamic problems the observed state can have a difficult to characterize relationship with useful policy actions. In…

The generalization ability of most meta-reinforcement learning (meta-RL) methods is largely limited to test tasks that are sampled from the same distribution used to sample training tasks. To overcome the limitation, we propose Latent…

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…

Reinforcement learning (RL) has demonstrated its ability to solve high dimensional tasks by leveraging non-linear function approximators. However, these successes are mostly achieved by 'black-box' policies in simulated domains. When…

Reinforcement Learning (RL) has emerged as a powerful paradigm for training LLM-based agents, yet remains limited by low sample efficiency, stemming not only from sparse outcome feedback but also from the agent's inability to leverage prior…

Reinforcement learning (RL) is a powerful machine learning technique that enables an intelligent agent to learn an optimal policy that maximizes the cumulative rewards in sequential decision making. Most of methods in the existing…

While reinforcement learning (RL) provides a framework for learning through trial and error, translating RL algorithms into the real world has remained challenging. A major hurdle to real-world application arises from the development of…

Most model-free reinforcement learning methods leverage state representations (embeddings) for generalization, but either ignore structure in the space of actions or assume the structure is provided a priori. We show how a policy can be…