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Erdem Bıyık

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4 papers

1 author row

NeurIPS Conference 2025 Conference Paper

Actor-Free Continuous Control via Structurally Maximizable Q-Functions

Yigit Korkmaz
Urvi Bhuwania
Ayush Jain
Erdem Bıyık

Value-based algorithms are a cornerstone of off-policy reinforcement learning due to their simplicity and training stability. However, their use has traditionally been restricted to discrete action spaces, as they rely on estimating Q-values for individual state-action pairs. In continuous action spaces, evaluating the Q-value over the entire action space becomes computationally infeasible. To address this, actor-critic methods are typically employed, where a critic is trained on off-policy data to estimate Q-values, and an actor is trained to maximize the critic's output. Despite their popularity, these methods often suffer from instability during training. In this work, we propose a purely value-based framework for continuous control that revisits structural maximization of Q-functions, introducing a set of key architectural and algorithmic choices to enable efficient and stable learning. We evaluate the proposed actor-free Q-learning approach on a range of standard simulation tasks, demonstrating performance and sample-efficiency on par with state-of-the-art baselines, without the cost of learning a separate actor. Particularly, in environments with constrained action spaces, where the value functions are typically non-smooth, our method with structural maximization outperforms traditional actor-critic methods with gradient-based maximization.

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AAAI Conference 2025 Conference Paper

Efficient Robot Learning via Interaction with Humans

Erdem Bıyık

In many human-robot collaboration and multi-agent tasks, it is vital to model the partners and estimate their objectives to efficiently collaborate/interact with them. While learning from demonstrations is the most common approach for this, it is very data-hungry, which we cannot afford in many settings including robotics, and demonstrations are unreliable in a surprisingly large number of domains, including those we think humans perform reasonably well, e.g., driving. In this talk, I will start with introducing comparison-based feedback and explain why it does not suffer from most of the problems that demonstrations have, but is still data-hungry. To address this problem, I will propose comparative language based feedback and active learning techniques, which will result in (1) a new type of human feedback, and (2) an active querying algorithm that optimizes the information the AI agent will elicit from the human. I will conclude the talk by discussing what other types of human feedback exist, e.g., interventions or hand gestures, and how we can incorporate them into the existing learning algorithms.

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NeurIPS Conference 2023 Conference Paper

RoboCLIP: One Demonstration is Enough to Learn Robot Policies

Sumedh Sontakke
Jesse Zhang
Séb Arnold
Karl Pertsch
Erdem Bıyık
Dorsa Sadigh
Chelsea Finn
Laurent Itti

Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL) methods attempt to circumvent these problems by utilizing expert demonstrations instead of using an extrinsic reward function but typically require a large number of in-domain expert demonstrations. Inspired by advances in the field of Video-and-Language Models (VLMs), we present RoboCLIP, an online imitation learning method that uses a single demonstration (overcoming the large data requirement) in the form of a video demonstration or a textual description of the task to generate rewards without manual reward function design. Additionally, RoboCLIP can also utilize out-of-domain demonstrations, like videos of humans solving the task for reward generation, circumventing the need to have the same demonstration and deployment domains. RoboCLIP utilizes pretrained VLMs without any finetuning for reward generation. Reinforcement learning agents trained with RoboCLIP rewards demonstrate 2-3 times higher zero-shot performance than competing imitation learning methods on downstream robot manipulation tasks, doing so using only one video/text demonstration. Visit our website at https: //sites. google. com/view/roboclip/home for experiment videos.

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IJCAI Conference 2021 Conference Paper

Emergent Prosociality in Multi-Agent Games Through Gifting

Woodrow Z. Wang
Mark Beliaev
Erdem Bıyık
Daniel A. Lazar
Ramtin Pedarsani
Dorsa Sadigh

Coordination is often critical to forming prosocial behaviors -- behaviors that increase the overall sum of rewards received by all agents in a multi-agent game. However, state of the art reinforcement learning algorithms often suffer from converging to socially less desirable equilibria when multiple equilibria exist. Previous works address this challenge with explicit reward shaping, which requires the strong assumption that agents can be forced to be prosocial. We propose using a less restrictive peer-rewarding mechanism, gifting, that guides the agents toward more socially desirable equilibria while allowing agents to remain selfish and decentralized. Gifting allows each agent to give some of their reward to other agents. We employ a theoretical framework that captures the benefit of gifting in converging to the prosocial equilibrium by characterizing the equilibria's basins of attraction in a dynamical system. With gifting, we demonstrate increased convergence of high risk, general-sum coordination games to the prosocial equilibrium both via numerical analysis and experiments.

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