相关论文: Pilot Performance modeling via observer-based inve…
One typical assumption in inverse reinforcement learning (IRL) is that human experts act to optimize the expected utility of a stochastic cost with a fixed distribution. This assumption deviates from actual human behaviors under ambiguity.…
We consider a setting for Inverse Reinforcement Learning (IRL) where the learner is extended with the ability to actively select multiple environments, observing an agent's behavior on each environment. We first demonstrate that if the…
Acquiring complex behaviors is essential for artificially intelligent agents, yet learning these behaviors in high-dimensional settings poses a significant challenge due to the vast search space. Traditional reinforcement learning (RL)…
The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…
This paper proposes an inverse reinforcement learning (IRL) framework to accelerate learning when the learner-teacher \textit{interaction} is \textit{limited} during training. Our setting is motivated by the realistic scenarios where a…
Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…
Given a dataset of expert demonstrations, inverse reinforcement learning (IRL) aims to recover a reward for which the expert is optimal. This work proposes a model-free algorithm to solve entropy-regularized IRL problem. In particular, we…
In coming up with solutions to real-world problems, humans implicitly adhere to constraints that are too numerous and complex to be specified completely. However, reinforcement learning (RL) agents need these constraints to learn the…
Perception modules are integral in many modern autonomous systems, but their accuracy can be subject to the vagaries of the environment. In this paper, we propose a learning-based approach that can automatically characterize the error of a…
Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…
In human-robot interaction (HRI) systems, such as autonomous vehicles, understanding and representing human behavior are important. Human behavior is naturally rich and diverse. Cost/reward learning, as an efficient way to learn and…
Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…
Accurate driving behavior modeling is fundamental to safe and efficient trajectory prediction, yet remains challenging in complex traffic scenarios. This paper presents a novel Inverse Reinforcement Learning (IRL) framework that captures…
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…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
The aim of inverse reinforcement learning (IRL) is to infer an agent's preferences from observing their behaviour. Usually, preferences are modelled as a reward function, $R$, and behaviour is modelled as a policy, $\pi$. One of the central…
Reward functions are difficult to design and often hard to align with human intent. Preference-based Reinforcement Learning (RL) algorithms address these problems by learning reward functions from human feedback. However, the majority of…
We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…