Related papers: ARCHER: Aggressive Rewards to Counter bias in Hind…
Hindsight experience replay (HER) is well-known to accelerate goal-based reinforcement learning (RL). While HER is generally applied to off-policy RL algorithms, we previously showed that HER can also accelerate on-policy algorithms, such…
Hindsight Experience Replay (HER) is widely regarded as the state-of-the-art algorithm for achieving sample-efficient multi-goal reinforcement learning (RL) in robotic manipulation tasks with binary rewards. HER facilitates learning from…
Hierarchical Reinforcement Learning (HRL) frameworks like Option-Critic (OC) and Multi-updates Option Critic (MOC) have introduced significant advancements in learning reusable options. However, these methods underperform in multi-goal…
In reinforcement learning (RL), experience replay-based sampling techniques play a crucial role in promoting convergence by eliminating spurious correlations. However, widely used methods such as uniform experience replay (UER) and…
This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired…
Reinforcement Learning (RL) algorithms typically require millions of environment interactions to learn successful policies in sparse reward settings. Hindsight Experience Replay (HER) was introduced as a technique to increase sample…
This project combines recent advances in experience replay techniques, namely, Combined Experience Replay (CER), Prioritized Experience Replay (PER), and Hindsight Experience Replay (HER). We show the results of combinations of these…
In reinforcement learning, Reverse Experience Replay (RER) is a recently proposed algorithm that attains better sample complexity than the classic experience replay method. RER requires the learning algorithm to update the parameters…
This paper proposes a method for prioritizing the replay experience referred to as Hindsight Goal Ranking (HGR) in overcoming the limitation of Hindsight Experience Replay (HER) that generates hindsight goals based on uniform sampling. HGR…
Natural language instruction following is paramount to enable collaboration between artificial agents and human beings. Natural language-conditioned reinforcement learning (RL) agents have shown how natural languages' properties, such as…
In this work, we introduce PIPER: Primitive-Informed Preference-based Hierarchical reinforcement learning via Hindsight Relabeling, a novel approach that leverages preference-based learning to learn a reward model, and subsequently uses…
Hindsight experience replay (HER) accelerates off-policy reinforcement learning algorithms for environments that emit sparse rewards by modifying the goal of the episode post-hoc to be some state achieved during the episode. Because…
Multi-goal robot manipulation tasks with sparse rewards are difficult for reinforcement learning (RL) algorithms due to the inefficiency in collecting successful experiences. Recent algorithms such as Hindsight Experience Replay (HER)…
Goal-oriented reinforcement learning has recently been a practical framework for robotic manipulation tasks, in which an agent is required to reach a certain goal defined by a function on the state space. However, the sparsity of such…
AlphaZero-like Monte Carlo Tree Search systems, originally introduced for two-player games, dynamically balance exploration and exploitation using neural network guidance. This combination makes them also suitable for classical search…
Sparse rewards present a difficult problem in reinforcement learning and may be inevitable in certain domains with complex dynamics such as real-world robotics. Hindsight Experience Replay (HER) is a recent replay memory development that…
This paper introduces ACS2HER, a novel integration of the Anticipatory Classifier System (ACS2) with the Hindsight Experience Replay (HER) mechanism. While ACS2 is highly effective at building cognitive maps through latent learning, its…
This paper describes an improvement in Deep Q-learning called Reverse Experience Replay (also RER) that solves the problem of sparse rewards and helps to deal with reward maximizing tasks by sampling transitions successively in reverse…
Learning complex tasks from scratch is challenging and often impossible for humans as well as for artificial agents. A curriculum can be used instead, which decomposes a complex task (target task) into a sequence of source tasks (the…
Reinforcement Learning algorithms aim to learn optimal control strategies through iterative interactions with an environment. A critical element in this process is the experience replay buffer, which stores past experiences, allowing the…