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

For task-oriented dialog systems, training a Reinforcement Learning (RL) based Dialog Management module suffers from low sample efficiency and slow convergence speed due to the sparse rewards in RL.To solve this problem, many strategies…

Reinforcement learning (RL) problems can be challenging without well-shaped rewards. Prior work on provably efficient RL methods generally proposes to address this issue with dedicated exploration strategies. However, another way to tackle…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

Vision-language models (VLMs) have demonstrated excellent high-level planning capabilities, enabling locomotion skill learning from video demonstrations without the need for meticulous human-level reward design. However, the improper frame…

A key challenge in reinforcement learning (RL) is reward (mis)specification, whereby imprecisely defined reward functions can result in unintended, possibly harmful, behaviours. Indeed, reward functions in RL are typically treated as…

Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…

Reward shaping (RS) is a powerful method in reinforcement learning (RL) for overcoming the problem of sparse or uninformative rewards. However, RS typically relies on manually engineered shaping-reward functions whose construction is…

Reinforcement Learning (RL) heavily relies on the careful design of the reward function. However, accurately assigning rewards to each state-action pair in Long-Term Reinforcement Learning (LTRL) tasks remains a significant challenge. As a…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

Deep Reinforcement Learning is a promising tool for robotic control, yet practical application is often hindered by the difficulty of designing effective reward functions. Real-world tasks typically require optimizing multiple objectives…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Reward design is a fundamental problem in reinforcement learning (RL). A misspecified or poorly designed reward can result in low sample efficiency and undesired behaviors. In this paper, we propose the idea of programmatic reward design,…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

Reinforcement learning (RL) has become a standard paradigm for refining large language models (LLMs) beyond pre-training and instruction tuning. A prominent line of work is RL with verifiable rewards (RLVR), which leverages automatically…

Reinforcement learning, which acquires a policy maximizing long-term rewards, has been actively studied. Unfortunately, this learning type is too slow and difficult to use in practical situations because the state-action space becomes huge…

Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…

Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…

There has been significant progress in deep reinforcement learning (RL) in recent years. Nevertheless, finding suitable hyperparameter configurations and reward functions remains challenging even for experts, and performance heavily relies…

This work handles the inverse reinforcement learning (IRL) problem where only a small number of demonstrations are available from a demonstrator for each high-dimensional task, insufficient to estimate an accurate reward function. Observing…