相关论文: Few-Shot Preference Learning for Human-in-the-Loop…

Preference-based reinforcement learning (PbRL) promises to learn a complex reward function with binary human preference. However, such human-in-the-loop formulation requires considerable human effort to assign preference labels to segment…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

We transform reinforcement learning (RL) into a form of supervised learning (SL) by turning traditional RL on its head, calling this Upside Down RL (UDRL). Standard RL predicts rewards, while UDRL instead uses rewards as task-defining…

Recent advancements in LLMs have revolutionized motion generation models in embodied applications. While LLM-type auto-regressive motion generation models benefit from training scalability, there remains a discrepancy between their token…

Aligning human preference and value is an important requirement for building contemporary foundation models and embodied AI. However, popular approaches such as reinforcement learning with human feedback (RLHF) break down the task into…

To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement…

Reinforcement learning (RL), a common tool in decision making, learns control policies from various experiences based on the associated cumulative return/rewards without treating them differently. Humans, on the contrary, often learn to…

We introduce MotionRL, the first approach to utilize Multi-Reward Reinforcement Learning (RL) for optimizing text-to-motion generation tasks and aligning them with human preferences. Previous works focused on improving numerical performance…

This article is a gentle discussion about the field of reinforcement learning in practice, about opportunities and challenges, touching a broad range of topics, with perspectives and without technical details. The article is based on both…

In machine learning for sequential decision-making, an algorithmic agent learns to interact with an environment while receiving feedback in the form of a reward signal. However, in many unstructured real-world settings, such a reward signal…

Preference-based reinforcement learning (PbRL) has shown impressive capabilities in training agents without reward engineering. However, a notable limitation of PbRL is its dependency on substantial human feedback. This dependency stems…

Recent progress in deep reinforcement learning (RL) and computer vision enables artificial agents to solve complex tasks, including locomotion, manipulation and video games from high-dimensional pixel observations. However, domain specific…

Humanoid robots often need to balance competing objectives, such as maximizing speed while minimizing energy consumption. While current reinforcement learning (RL) methods can master complex skills like fall recovery and perceptive…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Generating complex behaviors that satisfy the preferences of non-expert users is a crucial requirement for AI agents. Interactive reward learning from trajectory comparisons (a.k.a. RLHF) is one way to allow non-expert users to convey…

We consider algorithms for learning reward functions from human preferences over pairs of trajectory segments, as used in reinforcement learning from human feedback (RLHF). Most recent work assumes that human preferences are generated based…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

We consider the problem of preference based reinforcement learning (PbRL), where, unlike traditional reinforcement learning, an agent receives feedback only in terms of a 1 bit (0/1) preference over a trajectory pair instead of absolute…

Modern reinforcement learning (RL) systems capture deep truths about general, human problem-solving. In domains where new data can be simulated cheaply, these systems uncover sequential decision-making policies that far exceed the ability…

Offline reinforcement learning (RL) provides a powerful framework for training robotic agents using pre-collected, suboptimal datasets, eliminating the need for costly, time-consuming, and potentially hazardous online interactions. This is…