相关论文: SPLASH! Sample-efficient Preference-based inverse …

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

Inverse Reinforcement Learning (IRL) aims to facilitate a learner's ability to imitate expert behavior by acquiring reward functions that explain the expert's decisions. Regularized IRL applies strongly convex regularizers to the learner's…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

Inverse reinforcement learning (IRL) aims to infer a reward from expert demonstrations, motivated by the idea that the reward, rather than the policy, is the most succinct and transferable description of a task [Ng et al., 2000]. However,…

Humans are spectacular reinforcement learners, constantly learning from and adjusting to experience and feedback. Unfortunately, this doesn't necessarily mean humans are fast learners. When tasks are challenging, learning can become…

The aim of Inverse Reinforcement Learning (IRL) is to infer a reward function $R$ from a policy $\pi$. To do this, we need a model of how $\pi$ relates to $R$. In the current literature, the most common models are optimality, Boltzmann…

When deploying Reinforcement Learning (RL) agents into a physical system, we must ensure that these agents are well aware of the underlying constraints. In many real-world problems, however, the constraints are often hard to specify…

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…

In the context of inverse reinforcement learning (IRL) with a single expert, adversarial inverse reinforcement learning (AIRL) serves as a foundational approach to providing comprehensive and transferable task descriptions. However, AIRL…

While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely difficult due their inability to capture human intent and…

Deep reinforcement learning (DRL) has achieved great successes in many simulated tasks. The sample inefficiency problem makes applying traditional DRL methods to real-world robots a great challenge. Generative Adversarial Imitation Learning…

This paper proposes a novel inverse reinforcement learning framework using a diffusion-based adaptive lookahead planner (IRL-DAL) for autonomous vehicles. Training begins with imitation from an expert finite state machine (FSM) controller…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

In preference-based Reinforcement Learning (RL), obtaining a large number of preference labels are both time-consuming and costly. Furthermore, the queried human preferences cannot be utilized for the new tasks. In this paper, we propose…

Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human demonstrations but is bottlenecked by the capabilities of the demonstrations.…

Performance and reliability analyses of autonomous vehicles (AVs) can benefit from tools that ``amplify'' small datasets to synthesize larger volumes of plausible samples of the AV's behavior. We consider a specific instance of this data…

We transform reinforcement learning (RL) into a form of supervised learning (SL) by turning traditional RL on its head, calling this Upside Down RL (UDRL). Standard RL predicts rewards, while UDRL instead uses rewards as task-defining…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…

Intelligent agents rely heavily on prior experience when learning a new task, yet most modern reinforcement learning (RL) approaches learn every task from scratch. One approach for leveraging prior knowledge is to transfer skills learned on…