相关论文: Inversely Learning Transferable Rewards via Abstra…

In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedious reward function tuning to achieve the desired motion…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Inverse Reinforcement Learning (IRL) presents a powerful paradigm for learning complex robotic tasks from human demonstrations. However, most approaches make the assumption that expert demonstrations are available, which is often not the…

We propose a new approach to inverse reinforcement learning (IRL) based on the deep Gaussian process (deep GP) model, which is capable of learning complicated reward structures with few demonstrations. Our model stacks multiple latent GP…

In inverse reinforcement learning (IRL), the central objective is to infer underlying reward functions from observed expert behaviors in a way that not only explains the given data but also generalizes to unseen scenarios. This ensures…

In this paper, we aim to tackle the limitation of the Adversarial Inverse Reinforcement Learning (AIRL) method in stochastic environments where theoretical results cannot hold and performance is degraded. To address this issue, we propose a…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

The successes of reinforcement learning in recent years are underpinned by the characterization of suitable reward functions. However, in settings where such rewards are non-intuitive, difficult to define, or otherwise error-prone in their…

Inverse Reinforcement Learning (IRL) has demonstrated effectiveness in a variety of imitation tasks. In this paper, we introduce an IRL framework designed to extract rewarding features from expert trajectories affected by delayed…

One of the most interesting application scenarios in anomaly detection is when sequential data are targeted. For example, in a safety-critical environment, it is crucial to have an automatic detection system to screen the streaming data…

Training a high-dimensional simulated agent with an under-specified reward function often leads the agent to learn physically infeasible strategies that are ineffective when deployed in the real world. To mitigate these unnatural behaviors,…

We suggest a simple practical method to combine the human and artificial intelligence to both learn best investment practices of fund managers, and provide recommendations to improve them. Our approach is based on a combination of Inverse…

The discovery of individual objectives in collective behavior of complex dynamical systems such as fish schools and bacteria colonies is a long-standing challenge. Inverse reinforcement learning is a potent approach for addressing this…

Text generation is a crucial task in NLP. Recently, several adversarial generative models have been proposed to improve the exposure bias problem in text generation. Though these models gain great success, they still suffer from the…

Episodic tasks in Reinforcement Learning (RL) often pose challenges due to sparse reward signals and high-dimensional state spaces, which hinder efficient learning. Additionally, these tasks often feature hidden "trap states" --…

This paper addresses the problem of learning a task from demonstration. We adopt the framework of inverse reinforcement learning, where tasks are represented in the form of a reward function. Our contribution is a novel active learning…

The majority of language model training builds on imitation learning. It covers pretraining, supervised fine-tuning, and affects the starting conditions for reinforcement learning from human feedback (RLHF). The simplicity and scalability…

Inverse Reinforcement Learning addresses the problem of inferring an expert's reward function from demonstrations. However, in many applications, we not only have access to the expert's near-optimal behavior, but we also observe part of her…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…