相关论文: Diversifying Policy Behaviors with Extrinsic Behav…

Imitation learning is the task of replicating expert policy from demonstrations, without access to a reward function. This task becomes particularly challenging when the expert exhibits a mixture of behaviors. Prior work has introduced…

A key challenge for a reinforcement learning (RL) agent is to incorporate external/expert1 advice in its learning. The desired goals of an algorithm that can shape the learning of an RL agent with external advice include (a) maintaining…

In-Context Learning (ICL) has gained prominence due to its ability to perform tasks without requiring extensive training data and its robustness to noisy labels. A typical ICL workflow involves selecting localized examples relevant to a…

Deep reinforcement learning algorithms have been successfully applied to a range of challenging control tasks. However, these methods typically struggle with achieving effective exploration and are extremely sensitive to the choice of…

Bayesian inverse reinforcement learning (IRL) methods are ideal for safe imitation learning, as they allow a learning agent to reason about reward uncertainty and the safety of a learned policy. However, Bayesian IRL is computationally…

Despite remarkable successes in solving various complex decision-making tasks, training an imitation learning (IL) algorithm with deep neural networks (DNNs) suffers from the high computation burden. In this work, we propose quantum…

This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DRLR framework is developed based on an algorithm called…

Offline reinforcement learning requires reconciling two conflicting aims: learning a policy that improves over the behavior policy that collected the dataset, while at the same time minimizing the deviation from the behavior policy so as to…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

We introduce Iterative Dual Reinforcement Learning (IDRL), a new method that takes an optimal discriminator-weighted imitation view of solving RL. Our method is motivated by a simple experiment in which we find training a discriminator…

Model-based reinforcement learning (MBRL) with real-time planning has shown great potential in locomotion and manipulation control tasks. However, the existing planning methods, such as the Cross-Entropy Method (CEM), do not scale well to…

Evolutionary algorithms have been used to evolve a population of actors to generate diverse experiences for training reinforcement learning agents, which helps to tackle the temporal credit assignment problem and improves the exploration…

Existing inverse reinforcement learning methods (e.g. MaxEntIRL, $f$-IRL) search over candidate reward functions and solve a reinforcement learning problem in the inner loop. This creates a rather strange inversion where a harder problem,…

At the boundary between the known and the unknown, an agent inevitably confronts the dilemma of whether to explore or to exploit. Epistemic uncertainty reflects such boundaries, representing systematic uncertainty due to limited knowledge.…

This paper presents our solution for the Real Robot Challenge (RRC) III, a competition featured in the NeurIPS 2022 Competition Track, aimed at addressing dexterous robotic manipulation tasks through learning from pre-collected offline…

Inverse reinforcement learning (IRL) is the problem of inferring a reward function from expert behavior. There are several approaches to IRL, but most are designed to learn a Markovian reward. However, a reward function might be…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Elastic Decision Transformers (EDTs) have proved to be particularly successful in offline reinforcement learning, offering a flexible framework that unifies sequence modeling with decision-making under uncertainty. Recent research has shown…

The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations with more robustness to error compounding than behavioral…

Most existing imitation learning approaches assume the demonstrations are drawn from experts who are optimal, but relaxing this assumption enables us to use a wider range of data. Standard imitation learning may learn a suboptimal policy…