Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards

27 July 2017

Olivier Pietquin

Bilal Piot

Martin Riedmiller

Papers citing "Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards"

50 / 159 papers shown

Title
What Matters for Batch Online Reinforcement Learning in Robotics? Perry Dong Suvir Mirchandani Dorsa Sadigh Chelsea Finn OffRL 36 0 0 12 May 2025
Physics-informed Temporal Difference Metric Learning for Robot Motion Planning Ruiqi Ni Zherong Pan A. H. Qureshi SSL 51 0 0 09 May 2025
Dynamic Action Interpolation: A Universal Approach for Accelerating Reinforcement Learning with Expert Guidance Wenjun Cao 52 0 0 26 Apr 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Yong Li 95 0 0 12 Feb 2025
Search-Based Adversarial Estimates for Improving Sample Efficiency in Off-Policy Reinforcement Learning Federico Malato Ville Hautamaki 42 0 0 03 Feb 2025
Blockchain-assisted Demonstration Cloning for Multi-Agent Deep Reinforcement Learning Ahmed Alagha Jamal Bentahar Hadi Otrok Shakti Singh R. Mizouni 57 3 0 19 Jan 2025
RbRL2.0: Integrated Reward and Policy Learning for Rating-based Reinforcement Learning Mingkang Wu Devin White Vernon J. Lawhern Nicholas R. Waytowich Yongcan Cao OffRL 39 0 0 13 Jan 2025
Comprehensive Overview of Reward Engineering and Shaping in Advancing Reinforcement Learning Applications Sinan Ibrahim Mostafa Mostafa Ali Jnadi Hadi Salloum Pavel Osinenko OffRL 52 14 0 31 Dec 2024
Efficient Diversity-based Experience Replay for Deep Reinforcement Learning Kaiyan Zhao Yiming Wang Yuyang Chen Yan Li Leong Hou U Xiaoguang Niu 44 1 0 27 Oct 2024
Safe Navigation for Robotic Digestive Endoscopy via Human Intervention-based Reinforcement Learning Min Tan Yushun Tao Boyun Zheng GaoSheng Xie Lijuan Feng Zeyang Xia Jing Xiong 27 0 0 24 Sep 2024
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots Maria Bauzá José Enrique Chen Valentin Dalibard Nimrod Gileadi Roland Hafner ... Martin Riedmiller Jon Scholz Konstantinos Bousmalis Francesco Nori Nicolas Heess 34 5 0 10 Sep 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation Jan Brüdigam Ali-Adeeb Abbas Maks Sorokin Kuan Fang Brandon Hung Maya Guru Stefan Sosnowski Jiuguang Wang Sandra Hirche Simon Le Cleac'h 38 2 0 02 Aug 2024
A Backbone for Long-Horizon Robot Task Understanding Xiaoshuai Chen Wei Chen Dongmyoung Lee Yukun Ge Nicolás Rojas Petar Kormushev 56 3 0 02 Aug 2024
ATraDiff: Accelerating Online Reinforcement Learning with Imaginary Trajectories Qianlan Yang Yu-Xiong Wang OnRL 42 1 0 06 Jun 2024
Aligning Agents like Large Language Models Adam Jelley Yuhan Cao Dave Bignell Sam Devlin Tabish Rashid LM&Ro 49 1 0 06 Jun 2024
DEER: A Delay-Resilient Framework for Reinforcement Learning with Variable Delays Bo Xia Yilun Kong Yongzhe Chang Bo Yuan Zhiheng Li Xueqian Wang Bin Liang OffRL 55 3 0 05 Jun 2024
Enhancing Reinforcement Learning Agents with Local Guides Paul Daoudi Bogdan Robu Christophe Prieur Ludovic Dos Santos M. Barlier OnRL 31 3 0 21 Feb 2024
Human-AI Collaboration in Real-World Complex Environment with Reinforcement Learning Md Saiful Islam Srijita Das S. Gottipati William Duguay Clodéric Mars Jalal Arabneydi Antoine Fagette Matthew J. Guzdial Matthew E. Taylor 41 1 0 23 Dec 2023
An Invitation to Deep Reinforcement Learning Bernhard Jaeger Andreas Geiger OffRL OOD 80 5 0 13 Dec 2023
RLIF: Interactive Imitation Learning as Reinforcement Learning Jianlan Luo Perry Dong Yuexiang Zhai Yi Ma Sergey Levine OffRL 33 14 0 21 Nov 2023
Enhanced Generalization through Prioritization and Diversity in Self-Imitation Reinforcement Learning over Procedural Environments with Sparse Rewards Alain Andres Daochen Zha Javier Del Ser 39 0 0 01 Nov 2023
Offline Retraining for Online RL: Decoupled Policy Learning to Mitigate Exploration Bias Max Sobol Mark Archit Sharma Fahim Tajwar Rafael Rafailov Sergey Levine Chelsea Finn OffRL OnRL 34 1 0 12 Oct 2023
Planning to Go Out-of-Distribution in Offline-to-Online Reinforcement Learning Trevor A. McInroe Adam Jelley Stefano V. Albrecht Amos Storkey OffRL OnRL 28 6 0 09 Oct 2023
Machine Learning Meets Advanced Robotic Manipulation Saeid Nahavandi R. Alizadehsani D. Nahavandi Chee Peng Lim Kevin Kelly Fernando Bello 24 17 0 22 Sep 2023
Coherent Soft Imitation Learning Joe Watson Sandy H. Huang Nicholas Heess 36 11 0 25 May 2023
Adaptive action supervision in reinforcement learning from real-world multi-agent demonstrations Keisuke Fujii Kazushi Tsutsui Atom Scott Hiroshi Nakahara Naoya Takeishi Yoshinobu Kawahara 29 6 0 22 May 2023
Exploiting Symmetry and Heuristic Demonstrations in Off-policy Reinforcement Learning for Robotic Manipulation Amir M. Soufi Enayati Zengjie Zhang Kashish Gupta Homayoun Najjaran OffRL 16 0 0 12 Apr 2023
Learning Robot Manipulation from Cross-Morphology Demonstration G. Salhotra Isabella Liu Gaurav Sukhatme LM&Ro 25 9 0 07 Apr 2023
CRISP: Curriculum inducing Primitive Informed Subgoal Prediction Utsav Singh Vinay P. Namboodiri 36 3 0 07 Apr 2023
Adaptive Policy Learning for Offline-to-Online Reinforcement Learning Han Zheng Xufang Luo Pengfei Wei Xuan Song Dongsheng Li Jing Jiang OffRL OnRL 18 21 0 14 Mar 2023
Efficient Skill Acquisition for Complex Manipulation Tasks in Obstructed Environments Jun Yamada J. Collins Ingmar Posner 36 8 0 06 Mar 2023
The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms Anirudh Vemula Yuda Song Aarti Singh J. Andrew Bagnell Sanjiban Choudhury OffRL 41 13 0 01 Mar 2023
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot Tao Huang Kai-xiang Chen Bin Li Yunhui Liu Qingxu Dou 40 23 0 20 Feb 2023
Efficient Online Reinforcement Learning with Offline Data Philip J. Ball Laura M. Smith Ilya Kostrikov Sergey Levine OffRL OnRL 45 163 0 06 Feb 2023
Policy Expansion for Bridging Offline-to-Online Reinforcement Learning Haichao Zhang Weiwen Xu Haonan Yu CLL OffRL OnRL 45 62 0 02 Feb 2023
Human-in-the-loop Embodied Intelligence with Interactive Simulation Environment for Surgical Robot Learning Yonghao Long Wang Wei Tao Huang Yuehao Wang Qingxu Dou 45 32 0 01 Jan 2023
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios Yiren Lu Justin Fu George Tucker Xinlei Pan Eli Bronstein ... Brandyn White Aleksandra Faust Shimon Whiteson Drago Anguelov Sergey Levine OffRL 31 93 0 21 Dec 2022
Accelerating Self-Imitation Learning from Demonstrations via Policy Constraints and Q-Ensemble Chong Li OffRL 32 0 0 07 Dec 2022
Reinforcement learning with Demonstrations from Mismatched Task under Sparse Reward Yanjiang Guo Jingyue Gao Zheng Wu Chengming Shi Jianyu Chen OffRL 26 4 0 03 Dec 2022
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks Zheng Wu Wenzhao Lian Changhao Wang Mengxi Li S. Schaal Masayoshi Tomizuka 8 10 0 02 Dec 2022
CACTO: Continuous Actor-Critic with Trajectory Optimization -- Towards global optimality Gianluigi Grandesso Elisa Alboni G. P. R. Papini Patrick M. Wensing Andrea Del Prete 30 15 0 12 Nov 2022
Leveraging Fully Observable Policies for Learning under Partial Observability Hai V. Nguyen Andrea Baisero Dian Wang Chris Amato Robert W. Platt OffRL 30 19 0 03 Nov 2022
Cut-and-Approximate: 3D Shape Reconstruction from Planar Cross-sections with Deep Reinforcement Learning Azimkhon Ostonov 3DV 29 3 0 22 Oct 2022
On the Power of Pre-training for Generalization in RL: Provable Benefits and Hardness Haotian Ye Xiaoyu Chen Liwei Wang S. Du OffRL 37 6 0 19 Oct 2022
CEIP: Combining Explicit and Implicit Priors for Reinforcement Learning with Demonstrations Kai Yan Alex Schwing Yu-xiong Wang OffRL 30 2 0 18 Oct 2022
Abstract-to-Executable Trajectory Translation for One-Shot Task Generalization Stone Tao Xiaochen Li Tongzhou Mu Zhiao Huang Yuzhe Qin Hao Su 27 3 0 14 Oct 2022
Augmentation for Learning From Demonstration with Environmental Constraints Xing Li Manuel Baum Oliver Brock 38 0 0 13 Oct 2022
Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning Zih-Yun Chiu Yi-Lin Tuan William Yang Wang Michael C. Yip OffRL 32 3 0 07 Oct 2022
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control Murad Dawood Nils Dengler Jorge de Heuvel Maren Bennewitz 29 9 0 04 Oct 2022
A Benchmark Comparison of Imitation Learning-based Control Policies for Autonomous Racing Xiatao Sun Mingyan Zhou Zhijun Zhuang Shuo Yang Johannes Betz Rahul Mangharam OffRL 42 20 0 29 Sep 2022