相关论文: Reward-free World Models for Online Imitation Lear…

Imitation learning (IL) is a simple and powerful way to use high-quality human driving data, which can be collected at scale, to produce human-like behavior. However, policies based on imitation learning alone often fail to sufficiently…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

The sequential nature of decision-making in financial asset trading aligns naturally with the reinforcement learning (RL) framework, making RL a common approach in this domain. However, the low signal-to-noise ratio in financial markets…

Offline inverse reinforcement learning (IRL) aims to recover a reward function that explains expert behavior using only fixed demonstration data, without any additional online interaction. We propose BiCQL-ML, a policy-free offline IRL…

Inverse reinforcement learning (IRL) methods assume that the expert data is generated by an agent optimizing some reward function. However, in many settings, the agent may optimize a reward function subject to some constraints, where the…

Multi-agent learning is a promising method to simulate aggregate competitive behaviour in finance. Learning expert agents' reward functions through their external demonstrations is hence particularly relevant for subsequent design of…

Recent advancements in deep reinforcement learning (RL) have demonstrated notable progress in sample efficiency, spanning both model-based and model-free paradigms. Despite the identification and mitigation of specific bottlenecks in prior…

We consider a problem of learning the reward and policy from expert examples under unknown dynamics. Our proposed method builds on the framework of generative adversarial networks and introduces the empowerment-regularized maximum-entropy…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Behavior Foundation Models (BFMs) enable scalable imitation learning (IL) by pretraining task-agnostic representations that can be rapidly adapted to new tasks. However, existing BFMs assume fixed environment dynamics, limiting their…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…

Efficiently adapting to new environments and changes in dynamics is critical for agents to successfully operate in the real world. Reinforcement learning (RL) based approaches typically rely on external reward feedback for adaptation.…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

Learning a reward function from demonstrations suffers from low sample-efficiency. Even with abundant data, current inverse reinforcement learning methods that focus on learning from a single environment can fail to handle slight changes in…

We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills…

In this paper, we propose a robust imitation learning (IL) framework that improves the robustness of IL when environment dynamics are perturbed. The existing IL framework trained in a single environment can catastrophically fail with…

We consider the problem of imitation learning from a finite set of expert trajectories, without access to reinforcement signals. The classical approach of extracting the expert's reward function via inverse reinforcement learning, followed…

Inverse Reinforcement Learning (IRL) describes the problem of learning an unknown reward function of a Markov Decision Process (MDP) from observed behavior of an agent. Since the agent's behavior originates in its policy and MDP policies…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

Reinforcement learning provides a powerful and general framework for decision making and control, but its application in practice is often hindered by the need for extensive feature and reward engineering. Deep reinforcement learning…