相关论文: Inductive Generalization in Reinforcement Learning…

Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, their performance heavily depends on the quality of their…

Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…

Zero-shot reinforcement learning (RL) has emerged as a setting for developing general agents, capable of solving downstream tasks without additional training or planning at test-time. While conventional RL optimizes policies for fixed…

We study the problem of learning a good set of policies, so that when combined together, they can solve a wide variety of unseen reinforcement learning tasks with no or very little new data. Specifically, we consider the framework of…

The ability for policies to generalize to new environments is key to the broad application of RL agents. A promising approach to prevent an agent's policy from overfitting to a limited set of training environments is to apply regularization…

As a key component to intuitive cognition and reasoning solutions in human intelligence, causal knowledge provides great potential for reinforcement learning (RL) agents' interpretability towards decision-making by helping reduce the…

Offline reinforcement learning enables learning from a fixed dataset, without further interactions with the environment. The lack of environmental interactions makes the policy training vulnerable to state-action pairs far from the training…

We propose a framework for verifiable and compositional reinforcement learning (RL) in which a collection of RL subsystems, each of which learns to accomplish a separate subtask, are composed to achieve an overall task. The framework…

Deep reinforcement learning (RL) agents often fail to generalize to unseen environments (yet semantically similar to trained agents), particularly when they are trained on high-dimensional state spaces, such as images. In this paper, we…

Recent results in Reinforcement Learning (RL) have shown that agents with limited training environments are susceptible to a large amount of overfitting across many domains. A key challenge for RL generalization is to quantitatively explain…

We introduce a method to address goal misgeneralization in reinforcement learning (RL), leveraging Large Language Model (LLM) feedback during training. Goal misgeneralization, a type of robustness failure in RL occurs when an agent retains…

Reactive synthesis algorithms allow automatic construction of policies to control an environment modeled as a Markov Decision Process (MDP) that are optimal with respect to high-level temporal logic specifications. However, they assume that…

We provide a framework for accelerating reinforcement learning (RL) algorithms by heuristics constructed from domain knowledge or offline data. Tabula rasa RL algorithms require environment interactions or computation that scales with the…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

While current benchmark reinforcement learning (RL) tasks have been useful to drive progress in the field, they are in many ways poor substitutes for learning with real-world data. By testing increasingly complex RL algorithms on…

Learning a control policy capable of adapting to time-varying and potentially evolving system dynamics has been a great challenge to the mainstream reinforcement learning (RL). Mainly, the ever-changing system properties would continuously…

Linear temporal logic (LTL) is a compelling framework for specifying complex, structured tasks for reinforcement learning (RL) agents. Recent work has shown that interpreting LTL instructions as finite automata, which can be seen as…

Reward maximization, safe exploration, and intrinsic motivation are often studied as separate objectives in reinforcement learning (RL). We present a unified geometric framework, that views these goals as instances of a single optimization…

There are several ways to categorise reinforcement learning (RL) algorithms, such as either model-based or model-free, policy-based or planning-based, on-policy or off-policy, and online or offline. Broad classification schemes such as…

While reinforcement learning algorithms provide automated acquisition of optimal policies, practical application of such methods requires a number of design decisions, such as manually designing reward functions that not only define the…