相关论文: Reward Learning using Structural Motifs in Inverse…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

Recent developments in multi-agent imitation learning have shown promising results for modeling the behavior of human drivers. However, it is challenging to capture emergent traffic behaviors that are observed in real-world datasets. Such…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…

Scaling model-based inverse reinforcement learning (IRL) to real robotic manipulation tasks with unknown dynamics remains an open problem. The key challenges lie in learning good dynamics models, developing algorithms that scale to…

The aim of Inverse Reinforcement Learning (IRL) is to infer a reward function $R$ from a policy $\pi$. This problem is difficult, for several reasons. First of all, there are typically multiple reward functions which are compatible with a…

Inverse reinforcement learning (IRL) algorithms often rely on (forward) reinforcement learning or planning, over a given time horizon, to compute an approximately optimal policy for a hypothesized reward function; they then match this…

Inverse reinforcement learning (IRL) aims to infer an agent's preferences (represented as a reward function $R$) from their behaviour (represented as a policy $\pi$). To do this, we need a behavioural model of how $\pi$ relates to $R$. In…

Deep reinforcement learning achieves superhuman performance in a range of video game environments, but requires that a designer manually specify a reward function. It is often easier to provide demonstrations of a target behavior than to…

The successes of reinforcement learning in recent years are underpinned by the characterization of suitable reward functions. However, in settings where such rewards are non-intuitive, difficult to define, or otherwise error-prone in their…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Inverse reinforcement learning methods aim to retrieve the reward function of a Markov decision process based on a dataset of expert demonstrations. The commonplace scarcity and heterogeneous sources of such demonstrations can lead to the…

Inverse Reinforcement Learning (IRL) learns a reward function to explain expert demonstrations. Modern IRL methods often use the adversarial (minimax) formulation that alternates between reward and policy optimization, which often lead to…

Research on Inverse Reinforcement Learning (IRL) from third-person videos has shown encouraging results on removing the need for manual reward design for robotic tasks. However, most prior works are still limited by training from a…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

Offline Reinforcement Learning (ORL) offers a robust solution to training agents in applications where interactions with the environment must be strictly limited due to cost, safety, or lack of accurate simulation environments. Despite its…

We propose a novel learning paradigm, Self-Imitation via Reduction (SIR), for solving compositional reinforcement learning problems. SIR is based on two core ideas: task reduction and self-imitation. Task reduction tackles a hard-to-solve…

Reinforcement learning is a promising framework for solving control problems, but its use in practical situations is hampered by the fact that reward functions are often difficult to engineer. Specifying goals and tasks for autonomous…

Every living organism struggles against disruptive environmental forces to carve out and maintain an orderly niche. We propose that such a struggle to achieve and preserve order might offer a principle for the emergence of useful behaviors…

Sample efficiency has been a key issue in reinforcement learning (RL). An efficient agent must be able to leverage its prior experiences to quickly adapt to similar, but new tasks and situations. Meta-RL is one attempt at formalizing and…

Transfer of recent advances in deep reinforcement learning to real-world applications is hindered by high data demands and thus low efficiency and scalability. Through independent improvements of components such as replay buffers or more…