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

(This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible.) To improve the efficiency of deep reinforcement learning (DRL)-based…

Recent advances in multimodal reward modeling have been largely driven by a paradigm shift from discriminative to generative approaches. Building on this progress, recent studies have further employed reinforcement learning from verifiable…

Many continuous control tasks have easily formulated objectives, yet using them directly as a reward in reinforcement learning (RL) leads to suboptimal policies. Therefore, many classical control tasks guide RL training using complex…

Single-task RL agents are typically trained under a fixed reward function, which limits their robustness to reward misspecification and their ability to adapt to changing preferences. We introduce Reward-Conditioned Reinforcement Learning…

Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function…

There is a surge of interest in using formal languages such as Linear Temporal Logic (LTL) to precisely and succinctly specify complex tasks and derive reward functions for Reinforcement Learning (RL). However, existing methods often assign…

Goal-conditioned and Multi-Task Reinforcement Learning (GCRL and MTRL) address numerous problems related to robot learning, including locomotion, navigation, and manipulation scenarios. Recent works focusing on language-defined robotic…

Transfer of recent advances in deep reinforcement learning to real-world applications is hindered by high data demands and thus low efficiency and scalability. Through independent improvements of components such as replay buffers or more…

The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Models (PRMs) are a promising direction, they are often hindered…

Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires specifying all the relevant features a priori, which is…

Reinforcement Learning (RL) uses rewards to guide learning, yet reward design is typically hand-crafted using heuristics that can be difficult to tune. We propose a Control Barrier Function (CBF)-informed reward design for Multi-Agent RL…

Reinforcement Learning (RL) has been widely applied to many control tasks and substantially improved the performances compared to conventional control methods in many domains where the reward function is well defined. However, for many…

One major limitation to the applicability of Reinforcement Learning (RL) to many practical domains is the large number of samples required to learn an optimal policy. To address this problem and improve learning efficiency, we consider a…

Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e.g., with multiple objectives and safety constraints) can be challenging, since the user must design a reward…

Reinforcement learning (RL) is a powerful approach to enhance task-oriented dialogue (TOD) systems. However, existing RL methods tend to mainly focus on generation tasks, such as dialogue policy learning (DPL) or response generation (RG),…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…

Reward shaping is one of the most effective methods to tackle the crucial yet challenging problem of credit assignment in Reinforcement Learning (RL). However, designing shaping functions usually requires much expert knowledge and…

Reinforcement learning (RL) has successfully automated the complex process of mining formulaic alpha factors, for creating interpretable and profitable investment strategies. However, existing methods are hampered by the sparse rewards…

Large Reasoning Models (LRMs) have shown remarkable capabilities in solving complex problems through reinforcement learning (RL), particularly by generating long reasoning traces. However, these extended outputs often exhibit substantial…

Reward shaping allows reinforcement learning (RL) agents to accelerate learning by receiving additional reward signals. However, these signals can be difficult to design manually, especially for complex RL tasks. We propose a simple and…