Related papers: Diversity is All You Need: Learning Skills without…
Multi-fingered robotic hands have potential to enable robots to perform sophisticated manipulation tasks. However, teaching a robot to grasp objects with an anthropomorphic hand is an arduous problem due to the high dimensionality of state…
Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…
Several recent works have been dedicated to unsupervised reinforcement learning in a single environment, in which a policy is first pre-trained with unsupervised interactions, and then fine-tuned towards the optimal policy for several…
Most reinforcement learning algorithms seek a single optimal strategy that solves a given task. However, it can often be valuable to learn a diverse set of solutions, for instance, to make an agent's interaction with users more engaging, or…
Multi-goal reinforcement learning (RL) aims to qualify the agent to accomplish multi-goal tasks, which is of great importance in learning scalable robotic manipulation skills. However, reward engineering always requires strenuous efforts in…
Reinforcement learning has achieved great success in many decision-making tasks, and traditional reinforcement learning algorithms are mainly designed for obtaining a single optimal solution. However, recent works show the importance of…
Humans have mental models that allow them to plan, experiment, and reason in the physical world. How should an intelligent agent go about learning such models? In this paper, we will study if models of the world learned in an open-ended…
Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a compound policy may be learnt with shared neural network…
Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…
The reinforcement learning community has made great strides in designing algorithms capable of exceeding human performance on specific tasks. These algorithms are mostly trained one task at the time, each new task requiring to train a brand…
In fighting games, individual players of the same skill level often exhibit distinct strategies from one another through their gameplay. Despite this, the majority of AI agents for fighting games have only a single strategy for each "level"…
Model-based reinforcement learning is a promising learning strategy for practical robotic applications due to its improved data-efficiency versus model-free counterparts. However, current state-of-the-art model-based methods rely on shaped…
Efficient exploration remains a challenging research problem in reinforcement learning, especially when an environment contains large state spaces, deceptive local optima, or sparse rewards. To tackle this problem, we present a…
Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…
Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…
Traditional approaches in physics-based motion generation, centered around imitation learning and reward shaping, often struggle to adapt to new scenarios. To tackle this limitation, we propose AnySkill, a novel hierarchical method that…
The success of many RL techniques heavily relies on human-engineered dense rewards, which typically demand substantial domain expertise and extensive trial and error. In our work, we propose DrS (Dense reward learning from Stages), a novel…
For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human…
While reinforcement learning algorithms provide automated acquisition of optimal policies, practical application of such methods requires a number of design decisions, such as manually designing reward functions that not only define the…
The success of state-of-the-art machine learning is essentially all based on different variations of gradient descent algorithms that minimize some version of a cost or loss function. A fundamental limitation, however, is the need to train…