相关论文: Reinforcement learning with Demonstrations from Mi…

Demonstration is an appealing way for humans to provide assistance to reinforcement-learning agents. Most approaches in this area view demonstrations primarily as sources of behavioral bias. But in sparse-reward tasks, humans seem to treat…

In this paper, we study Reinforcement Learning from Demonstrations (RLfD) that improves the exploration efficiency of Reinforcement Learning (RL) by providing expert demonstrations. Most of existing RLfD methods require demonstrations to be…

Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

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…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling non-roboticist end-users to teach robots to perform a task by providing a human demonstration. However, modern LfD techniques, e.g. inverse reinforcement learning…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Applying reinforcement learning (RL) to sparse reward domains is notoriously challenging due to insufficient guiding signals. Common RL techniques for addressing such domains include (1) learning from demonstrations and (2) curriculum…

While Reinforcement Learning (RL) has been proven essential for tuning large language models (LLMs), it can lead to reward over-optimization (ROO). Existing approaches address ROO by adding KL regularization, requiring computationally…

Methods for learning from demonstration (LfD) have shown success in acquiring behavior policies by imitating a user. However, even for a single task, LfD may require numerous demonstrations. For versatile agents that must learn many tasks…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

Learning from demonstration (LfD) is a technique that allows expert teachers to teach task-oriented skills to robotic systems. However, the most effective way of guiding novice teachers to approach expert-level demonstrations quantitatively…

In complex environments with high dimension, training a reinforcement learning (RL) model from scratch often suffers from lengthy and tedious collection of agent-environment interactions. Instead, leveraging expert demonstration to guide RL…

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Reinforcement learning has achieved great success in various applications. To learn an effective policy for the agent, it usually requires a huge amount of data by interacting with the environment, which could be computational costly and…

Learning from Demonstration (LfD) can be an efficient way to train systems with analogous agents by enabling ``Student'' agents to learn from the demonstrations of the most experienced ``Teacher'' agent, instead of training their policy in…

Our work aims at efficiently leveraging ambiguous demonstrations for the training of a reinforcement learning (RL) agent. An ambiguous demonstration can usually be interpreted in multiple ways, which severely hinders the RL-Agent from…