相关论文: Policy Learning from Large Vision-Language Model F…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Offline preference-based reinforcement learning (PbRL) provides an effective way to overcome the challenges of designing reward and the high costs of online interaction. However, since labeling preference needs real-time human feedback,…

Reinforcement learning (RL) has the potential to transform real-world decision-making systems by enabling autonomous agents to learn from experience. Deploying RL in real-world settings, especially in the context of human-robot interaction,…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

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…

In offline reinforcement learning (RL), learning from fixed datasets presents a promising solution for domains where real-time interaction with the environment is expensive or risky. However, designing dense reward signals for offline…

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 human preferences is challenging as it typically requires having a high-fidelity simulator or using expensive and potentially unsafe actual physical rollouts in the environment. However, in many tasks the…

Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…

In this paper, we investigate the problem of offline Preference-based Reinforcement Learning (PbRL) with human feedback where feedback is available in the form of preference between trajectory pairs rather than explicit rewards. Our…

Learning a reward function from human preferences is challenging as it typically requires having a high-fidelity simulator or using expensive and potentially unsafe actual physical rollouts in the environment. However, in many tasks the…

Applying reinforcement learning (RL) to real-world problems is often made challenging by the inability to interact with the environment and the difficulty of designing reward functions. Offline RL addresses the first challenge by…

We present a map-less path planning algorithm based on Deep Reinforcement Learning (DRL) for mobile robots navigating in unknown environment that only relies on 40-dimensional raw laser data and odometry information. The planner is trained…

Offline reinforcement learning (RL) is a variant of RL where the policy is learned from a previously collected dataset of trajectories and rewards. In our work, we propose a practical approach to offline RL with large language models…

Conveying complex objectives to reinforcement learning (RL) agents can often be difficult, involving meticulous design of reward functions that are sufficiently informative yet easy enough to provide. Human-in-the-loop RL methods allow…

Preference-based reinforcement learning (PbRL) provides a powerful paradigm to avoid meticulous reward engineering by learning rewards based on human preferences. However, real-time human feedback is hard to obtain in online tasks. Most…

Large language models (LLMs) excel in tasks like question answering and dialogue, but complex tasks requiring interaction, such as negotiation and persuasion, require additional long-horizon reasoning and planning. Reinforcement learning…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…