{"id":"https://openalex.org/W4405033897","doi":"https://doi.org/10.48550/arxiv.2412.01114","title":"Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations","display_name":"Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations","publication_year":2024,"publication_date":"2024-12-02","ids":{"openalex":"https://openalex.org/W4405033897","doi":"https://doi.org/10.48550/arxiv.2412.01114"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2412.01114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.01114","pdf_url":"https://arxiv.org/pdf/2412.01114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.01114","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008097691","display_name":"Cevahir K\u00f6pr\u00fcl\u00fc","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Koprulu, Cevahir","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022739367","display_name":"Po-han Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Po-han","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042228071","display_name":"Tianyu Qiu","orcid":"https://orcid.org/0000-0002-6102-8627"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Tianyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006249302","display_name":"Ruihan Zhao","orcid":"https://orcid.org/0009-0009-8208-0377"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Ruihan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085796854","display_name":"Tyler Westenbroek","orcid":"https://orcid.org/0000-0003-1111-3118"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Westenbroek, Tyler","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070827615","display_name":"David Fridovich-Keil","orcid":"https://orcid.org/0000-0002-5866-6441"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fridovich-Keil, David","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024120306","display_name":"Sandeep Chinchali","orcid":"https://orcid.org/0000-0002-0601-3633"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chinchali, Sandeep","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5068441112","display_name":"Ufuk Topcu","orcid":"https://orcid.org/0000-0003-0819-9985"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Topcu, Ufuk","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5008097691"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.960099995136261,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.960099995136261,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9180999994277954,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.7123130559921265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44434648752212524},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.41964519023895264},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.3577916622161865},{"id":"https://openalex.org/keywords/knowledge-management","display_name":"Knowledge management","score":0.3237859010696411},{"id":"https://openalex.org/keywords/pedagogy","display_name":"Pedagogy","score":0.07656535506248474}],"concepts":[{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.7123130559921265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44434648752212524},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.41964519023895264},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.3577916622161865},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.3237859010696411},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.07656535506248474}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2412.01114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.01114","pdf_url":"https://arxiv.org/pdf/2412.01114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2412.01114","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2412.01114","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.01114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.01114","pdf_url":"https://arxiv.org/pdf/2412.01114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405033897.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Many":[0],"continuous":[1],"control":[2],"problems":[3],"can":[4,18,52,130],"be":[5,67],"formulated":[6],"as":[7,44],"sparse-reward":[8],"reinforcement":[9],"learning":[10,54,118,134],"(RL)":[11],"tasks.":[12],"In":[13],"principle,":[14],"online":[15,133],"RL":[16],"methods":[17],"automatically":[19],"explore":[20],"the":[21,45,81,111,128],"state":[22],"space":[23],"to":[24,36,105,136],"solve":[25],"each":[26,70],"new":[27,71],"task.":[28,113],"However,":[29],"discovering":[30],"sequences":[31],"of":[32,96],"actions":[33],"that":[34,65,79],"lead":[35],"a":[37,56,75,86,93],"non-zero":[38],"reward":[39],"becomes":[40],"exponentially":[41],"more":[42],"difficult":[43],"task":[46],"horizon":[47],"increases.":[48],"Manually":[49],"shaping":[50],"rewards":[51,109],"accelerate":[53],"for":[55,69,110],"fixed":[57],"task,":[58],"but":[59],"it":[60],"is":[61],"an":[62],"arduous":[63],"process":[64],"must":[66],"repeated":[68],"environment.":[72],"We":[73],"introduce":[74],"systematic":[76],"reward-shaping":[77],"framework":[78],"distills":[80],"information":[82],"contained":[83],"in":[84,119],"1)":[85],"task-agnostic":[87],"prior":[88],"data":[89],"set":[90],"and":[91,100,122],"2)":[92],"small":[94],"number":[95],"task-specific":[97],"expert":[98],"demonstrations,":[99],"then":[101],"uses":[102],"these":[103],"priors":[104],"synthesize":[106],"dense":[107],"dynamics-aware":[108],"given":[112],"This":[114],"supervision":[115],"substantially":[116],"accelerates":[117],"our":[120],"experiments,":[121],"we":[123],"provide":[124],"analysis":[125],"demonstrating":[126],"how":[127],"approach":[129],"effectively":[131],"guide":[132],"agents":[135],"faraway":[137],"goals.":[138]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
