相关论文: Human-in-the-loop Online Rejection Sampling for Ro…

The process of developing control functions for embedded systems is resource-, time-, and data-intensive, often resulting in sub-optimal cost and solutions approaches. Reinforcement Learning (RL) has great potential for autonomously…

The literature on Inverse Reinforcement Learning (IRL) typically assumes that humans take actions in order to minimize the expected value of a cost function, i.e., that humans are risk neutral. Yet, in practice, humans are often far from…

Achieving human-like dexterity is a longstanding challenge in robotics, in part due to the complexity of planning and control for contact-rich systems. In reinforcement learning (RL), one popular approach has been to use…

The objective of offline RL is to learn optimal policies when a fixed exploratory demonstrations data-set is available and sampling additional observations is impossible (typically if this operation is either costly or rises ethical…

We model human decision-making behaviors in a risk-taking task using inverse reinforcement learning (IRL) for the purposes of understanding real human decision making under risk. To the best of our knowledge, this is the first work applying…

Inspired by the recent successes of Inverse Optimization (IO) across various application domains, we propose a novel offline Reinforcement Learning (ORL) algorithm for continuous state and action spaces, leveraging the convex loss function…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

Offline reinforcement learning (RL) provides a promising approach to avoid costly online interaction with the real environment. However, the performance of offline RL highly depends on the quality of the datasets, which may cause…

Robotic insertion tasks are characterized by contact and friction mechanics, making them challenging for conventional feedback control methods due to unmodeled physical effects. Reinforcement learning (RL) is a promising approach for…

This paper investigates the application of Minimal Observation Inverse Reinforcement Learning (MO-IRL) to model and predict human arm-reaching movements with time-varying cost weights. Using a planar two-link biomechanical model and…

Learning new task-specific skills from a few trials is a fundamental challenge for artificial intelligence. Meta reinforcement learning (meta-RL) tackles this problem by learning transferable policies that support few-shot adaptation to…

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…

Inverse reinforcement learning (IRL) is the problem of learning the preferences of an agent from the observations of its behavior on a task. While this problem has been well investigated, the related problem of {\em online} IRL---where the…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

Vision-language-action (VLA) models achieve strong generalization through large-scale pre-training, but real-world deployment requires expert-level task proficiency in addition to broad generality. Existing post-training approaches for VLA…

Reinforcement learning (RL) is central to improving reasoning in large language models (LLMs) but typically requires ground-truth rewards. Test-Time Reinforcement Learning (TTRL) removes this need by using majority-vote rewards, but relies…

In practice, reinforcement learning (RL) agents are often trained with a possibly imperfect proxy reward function, which may lead to a human-agent alignment issue (i.e., the learned policy either converges to non-optimal performance with…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

Most of the existing works for reinforcement learning (RL) with general function approximation (FA) focus on understanding the statistical complexity or regret bounds. However, the computation complexity of such approaches is far from being…

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…