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Self-supervision has the potential to transform reinforcement learning (RL), paralleling the breakthroughs it has enabled in other areas of machine learning. While self-supervised learning in other domains aims to find patterns in a fixed…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

Offline Goal-Conditioned Reinforcement Learning (GCRL) is tasked with learning to achieve multiple goals in an environment purely from offline datasets using sparse reward functions. Offline GCRL is pivotal for developing generalist agents…

Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study the…

Reinforcement learning (RL) has been recognized as a powerful tool for robot control tasks. RL typically employs reward functions to define task objectives and guide agent learning. However, since the reward function serves the dual purpose…

Reinforcement learning algorithms are typically designed for discrete-time dynamics, even though the underlying real-world control systems are often continuous in time. In this paper, we study the problem of continuous-time reinforcement…

Constrained Reinforcement Learning (CRL) is a subset of machine learning that introduces constraints into the traditional reinforcement learning (RL) framework. Unlike conventional RL which aims solely to maximize cumulative rewards, CRL…

This paper investigates exploration strategies of Deep Reinforcement Learning (DRL) methods to learn navigation policies for mobile robots. In particular, we augment the normal external reward for training DRL algorithms with intrinsic…

Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of…

Unsupervised pre-training strategies have proven to be highly effective in natural language processing and computer vision. Likewise, unsupervised reinforcement learning (RL) holds the promise of discovering a variety of potentially useful…

Unsupervised and self-supervised objectives, such as next token prediction, have enabled pre-training generalist models from large amounts of unlabeled data. In reinforcement learning (RL), however, finding a truly general and scalable…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

Goal-conditioned reinforcement learning (RL) is an interesting extension of the traditional RL framework, where the dynamic environment and reward sparsity can cause conventional learning algorithms to fail. Reward shaping is a practical…

This paper investigates Reinforcement Learning (RL) on data without explicit labels for reasoning tasks in Large Language Models (LLMs). The core challenge of the problem is reward estimation during inference while not having access to…

In constrained reinforcement learning (RL), a learning agent seeks to not only optimize the overall reward but also satisfy the additional safety, diversity, or budget constraints. Consequently, existing constrained RL solutions require…

This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics, complex contact interactions, and sensitivity to…

Offline reinforcement learning (RL) aims to learn an effective policy from a pre-collected dataset. Most existing works are to develop sophisticated learning algorithms, with less emphasis on improving the data collection process. Moreover,…

Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…