相关论文: PROGRESSOR: A Perceptually Guided Reward Estimator…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Deep Reinforcement Learning (RL) has emerged as a powerful paradigm to solve a range of complex yet specific control tasks. Yet training generalist agents that can quickly adapt to new tasks remains an outstanding challenge. Recent advances…

Large language models (LLMs) have exhibited extraordinary performance in a variety of tasks while it remains challenging for them to solve complex multi-step tasks as agents. In practice, agents sensitive to the outcome of certain key steps…

Offline Goal-Conditioned Reinforcement Learning (GCRL) is tasked with learning to achieve multiple goals in an environment purely from offline datasets using sparse reward functions. Offline GCRL is pivotal for developing generalist agents…

Current mainstream methods of aligning diffusion models with human preferences typically employ VLM-based reward models. However, these reward models, pre-trained for semantic alignment, struggle to capture the essential perceptual…

Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Preference-based reinforcement learning (RL) provides a framework to train agents using human preferences between two behaviors. However, preference-based RL has been challenging to scale since it requires a large amount of human feedback…

Although diffusion models have achieved strong results in decision-making tasks, their slow inference speed remains a key limitation. While consistency models offer a potential solution, existing applications to decision-making either…

How can a reinforcement learning (RL) agent prepare to solve downstream tasks if those tasks are not known a priori? One approach is unsupervised skill discovery, a class of algorithms that learn a set of policies without access to a reward…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Exploration in reinforcement learning (RL) remains an open challenge. RL algorithms rely on observing rewards to train the agent, and if informative rewards are sparse the agent learns slowly or may not learn at all. To improve exploration…

We propose a novel Reinforcement Learning model for discrete environments, which is inherently interpretable and supports the discovery of deep subgoal hierarchies. In the model, an agent learns information about environment in the form of…

The reward hypothesis states that all goals and purposes can be understood as the maximization of a received scalar reward signal. However, in practice, defining such a reward signal is notoriously difficult, as humans are often unable to…

Preference-based reinforcement learning (PbRL) is an approach that enables RL agents to learn from preference, which is particularly useful when formulating a reward function is challenging. Existing PbRL methods generally involve a…

Many imitation learning (IL) algorithms use inverse reinforcement learning (IRL) to infer a reward function that aligns with the demonstration. However, the inferred reward functions often fail to capture the underlying task objectives. In…

Recent advancements in reinforcement learning with verifiable rewards (RLVR) have significantly improved the complex reasoning ability of vision-language models (VLMs). However, its outcome-level supervision is too coarse to diagnose and…

Large language models (LLMs) are increasingly developed as autonomous agents using reinforcement learning (agentic RL) that reason and act in interactive environments. However, sparse and sometimes unverifiable rewards make it extremely…

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…

We study the problem of inverse reinforcement learning (IRL), where the learning agent recovers a reward function using expert demonstrations. Most of the existing IRL techniques make the often unrealistic assumption that the agent has…