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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2605.26998 |
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| _version_ | 1866910260649787392 |
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| author | Sheng, Wenyuan Zhu, Hao Boedecker, Joschka |
| author_facet | Sheng, Wenyuan Zhu, Hao Boedecker, Joschka |
| contents | Inverse reinforcement learning (IRL) recovers reward functions from observed behavior, yet traditional methods assume a single stationary reward that cannot capture goal switching within an episode. Recent multi-intention IRL methods address this by segmenting trajectories, but model intention transitions as either a memoryless Markov chain or via manual state augmentation with a fixed history window. We propose the Probabilistic Recurrent Intention Switching Model (PRISM), which replaces both mechanisms with a lightweight recurrent network that maps observation history to a per-step intention distribution. We prove that the resulting EM objective decomposes exactly into independent per-intention reward subproblems, each solvable in closed form, yielding an $\mathcal{O}(nK)$ E-step with no variational approximation. We evaluate PRISM on a non-Markovian gridworld, a mouse labyrinth, and BridgeData~V2 robotic manipulation, the first large-scale robotic application of multi-intention IRL. Across all settings PRISM achieves the highest held-out log-likelihood while recovering nameable, temporally coherent intentions from unlabeled demonstrations, suggesting that discrete goal switching is present in both biological and artificial agents. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_26998 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Probabilistic Recurrent Intention Switching Model Sheng, Wenyuan Zhu, Hao Boedecker, Joschka Machine Learning Neurons and Cognition Inverse reinforcement learning (IRL) recovers reward functions from observed behavior, yet traditional methods assume a single stationary reward that cannot capture goal switching within an episode. Recent multi-intention IRL methods address this by segmenting trajectories, but model intention transitions as either a memoryless Markov chain or via manual state augmentation with a fixed history window. We propose the Probabilistic Recurrent Intention Switching Model (PRISM), which replaces both mechanisms with a lightweight recurrent network that maps observation history to a per-step intention distribution. We prove that the resulting EM objective decomposes exactly into independent per-intention reward subproblems, each solvable in closed form, yielding an $\mathcal{O}(nK)$ E-step with no variational approximation. We evaluate PRISM on a non-Markovian gridworld, a mouse labyrinth, and BridgeData~V2 robotic manipulation, the first large-scale robotic application of multi-intention IRL. Across all settings PRISM achieves the highest held-out log-likelihood while recovering nameable, temporally coherent intentions from unlabeled demonstrations, suggesting that discrete goal switching is present in both biological and artificial agents. |
| title | Probabilistic Recurrent Intention Switching Model |
| topic | Machine Learning Neurons and Cognition |
| url | https://arxiv.org/abs/2605.26998 |