相关论文: Unsupervised Reward Shaping for a Robotic Sequenti…

Reinforcement learning (RL) methods learn optimal decisions in the presence of a stationary environment. However, the stationary assumption on the environment is very restrictive. In many real world problems like traffic signal control,…

In reinforcement learning (RL), the ability to utilize prior knowledge from previously solved tasks can allow agents to quickly solve new problems. In some cases, these new problems may be approximately solved by composing the solutions of…

Recently, it is shown that deploying a proper self-supervision is a prospective way to enhance the performance of supervised learning. Yet, the benefits of self-supervision are not fully exploited as previous pretext tasks are specialized…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

Exemplar learning of visual similarities in an unsupervised manner is a problem of paramount importance to Computer Vision. In this context, however, the recent breakthrough in deep learning could not yet unfold its full potential. With…

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online based on such human input, but they rely on handcrafted…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

Explaining the behaviour of intelligent agents learned by reinforcement learning (RL) to humans is challenging yet crucial due to their incomprehensible proprioceptive states, variational intermediate goals, and resultant unpredictability.…

Reward shaping is a technique in reinforcement learning that addresses the sparse-reward problem by providing more frequent and informative rewards. We introduce a self-adaptive and highly efficient reward shaping mechanism that…

The reward signal plays a central role in defining the desired behaviors of agents in reinforcement learning (RL). Rewards collected from realistic environments could be perturbed, corrupted, or noisy due to an adversary, sensor error, or…

While reinforcement learning algorithms provide automated acquisition of optimal policies, practical application of such methods requires a number of design decisions, such as manually designing reward functions that not only define the…

In cooperative multi-agent reinforcement learning, a collection of agents learns to interact in a shared environment to achieve a common goal. We propose the use of reward machines (RM) -- Mealy machines used as structured representations…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Reinforcement learning (RL) algorithms allow artificial agents to improve their selection of actions to increase rewarding experiences in their environments. Temporal Difference (TD) Learning -- a model-free RL method -- is a leading…

Reward functions are central in reinforcement learning (RL), guiding agents towards optimal decision-making. The complexity of RL tasks requires meticulously designed reward functions that effectively drive learning while avoiding…

We introduce a new approach to probabilistic unsupervised learning based on the recognition-parametrised model (RPM): a normalised semi-parametric hypothesis class for joint distributions over observed and latent variables. Under the key…

This paper investigates the so-called reward-balancing methods, a novel class of algorithms for solving discounted-return reinforcement learning (RL) problems. These methods consist of iteratively adjusting the reward function to transform…

Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…