相关论文: Stage-Wise Reward Shaping for Acrobatic Robots: A …

Reinforcement learning (RL) has emerged as a powerful tool for tackling control problems, but its practical application is often hindered by the complexity arising from intricate reward functions with multiple terms. The reward hypothesis…

Reinforcement Learning (RL) has progressed from simple control tasks to complex real-world challenges with large state spaces. While RL excels in these tasks, training time remains a limitation. Reward shaping is a popular solution, but…

Inverse reinforcement learning (IRL) is computationally challenging, with common approaches requiring the solution of multiple reinforcement learning (RL) sub-problems. This work motivates the use of potential-based reward shaping to reduce…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

We propose a Reinforcement Learning (RL) based control design framework for handling complex tasks. The approach extends the concept of Reward Machines (RM) with Signal Temporal Logic (STL) formulas that can be used for event generation.…

Reinforcement learning (RL) relies heavily on exploration to learn from its environment and maximize observed rewards. Therefore, it is essential to design a reward function that guarantees optimal learning from the received experience.…

Multimodal Reward Models (MRMs) play a crucial role in enhancing the performance of Multimodal Large Language Models (MLLMs). While recent advancements have primarily focused on improving the model structure and training data of MRMs, there…

Long-horizon tasks in robotic manipulation present significant challenges in reinforcement learning (RL) due to the difficulty of designing dense reward functions and effectively exploring the expansive state-action space. However, despite…

Robot co-design, jointly optimizing morphology and control policy, remains a longstanding challenge in the robotics community, where many promising robots have been developed. However, a key limitation lies in its tendency to converge to…

The main challenge in developing effective reinforcement learning (RL) pipelines is often the design and tuning the reward functions. Well-designed shaping reward can lead to significantly faster learning. Naively formulated rewards,…

Reinforcement learning (RL) algorithms assume that users specify tasks by manually writing down a reward function. However, this process can be laborious and demands considerable technical expertise. Can we devise RL algorithms that instead…

The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

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…

Designing effective reward functions remains a central challenge in reinforcement learning, especially in multi-objective environments. In this work, we propose Multi-Objective Reward Shaping with Exploration (MORSE), a general framework…

Many continuous control problems can be formulated as sparse-reward reinforcement learning (RL) tasks. In principle, online RL methods can automatically explore the state space to solve each new task. However, discovering sequences of…

Reinforcement learning has become an essential algorithm for generating complex robotic behaviors. However, to learn such behaviors, it is necessary to design a reward function that describes the task, which often consists of multiple…

Reinforcement learning provides an automated framework for learning behaviors from high-level reward specifications, but in practice the choice of reward function can be crucial for good results -- while in principle the reward only needs…

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…

Reward shaping is an effective technique for incorporating domain knowledge into reinforcement learning (RL). Existing approaches such as potential-based reward shaping normally make full use of a given shaping reward function. However,…