相关论文: Learning to Solve Tasks with Exploring Prior Behav…

We present an adversarial active exploration for inverse dynamics model learning, a simple yet effective learning scheme that incentivizes exploration in an environment without any human intervention. Our framework consists of a deep…

Reinforcement Learning (RL) is known to be often unsuccessful in environments with sparse extrinsic rewards. A possible countermeasure is to endow RL agents with an intrinsic reward function, or 'intrinsic motivation', which rewards the…

Inverse reinforcement learning (IRL) infers a reward function from demonstrations, allowing for policy improvement and generalization. However, despite much recent interest in IRL, little work has been done to understand the minimum set of…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Reinforcement Learning (RL) has been widely used to solve tasks where the environment consistently provides a dense reward value. However, in real-world scenarios, rewards can often be poorly defined or sparse. Auxiliary signals are…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Sparse-reward reinforcement learning (RL) can model a wide range of highly complex tasks. Solving sparse-reward tasks is RL's core premise, requiring efficient exploration coupled with long-horizon credit assignment, and overcoming these…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstrations has achieved great…

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 effective policies for sparse objectives is a key challenge in Deep Reinforcement Learning (RL). A common approach is to design task-related dense rewards to improve task learnability. While such rewards are easily interpreted,…

Inverse reinforcement learning (IRL) has progressed significantly toward accurately learning the underlying rewards in both discrete and continuous domains from behavior data. The next advance is to learn {\em intrinsic} preferences in ways…

Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more…

Recent advancements in deep reinforcement learning (RL) have demonstrated notable progress in sample efficiency, spanning both model-based and model-free paradigms. Despite the identification and mitigation of specific bottlenecks in prior…

The application of reinforcement learning (RL) in robotic control is still limited in the environments with sparse and delayed rewards. In this paper, we propose a practical self-imitation learning method named Self-Imitation Learning with…

Physical interactions can often help reveal information that is not readily apparent. For example, we may tug at a table leg to evaluate whether it is built well, or turn a water bottle upside down to check that it is watertight. We propose…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

\Episode-based reinforcement learning (ERL) algorithms treat reinforcement learning (RL) as a black-box optimization problem where we learn to select a parameter vector of a controller, often represented as a movement primitive, for a given…