Related papers: HIGhER : Improving instruction following with Hind…

Efficient learning in the environment with sparse rewards is one of the most important challenges in Deep Reinforcement Learning (DRL). In continuous DRL environments such as robotic arms control, Hindsight Experience Replay (HER) has been…

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…

3D open-world environments with adversarial opponents remain a core challenge for reinforcement learning due to their vast state spaces. Effective reasoning representations are essential in such settings. While existing self-supervised…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

We focus on the task of creating a reinforcement learning agent that is inherently explainable -- with the ability to produce immediate local explanations by thinking out loud while performing a task and analyzing entire trajectories…

A long-term goal of language agents is to learn and improve through their own experience, ultimately outperforming humans in complex, real-world tasks. However, training agents from experience data with reinforcement learning remains…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as a promising paradigm for post-training reasoning models. However, group-based methods such as Group Relative Policy Optimization (GRPO) face a critical dilemma in…

Imitation learning has proven to be useful for many real-world problems, but approaches such as behavioral cloning suffer from data mismatch and compounding error issues. One attempt to address these limitations is the DAgger algorithm,…

Dealing with sparse rewards is one of the biggest challenges in Reinforcement Learning (RL). We present a novel technique called Hindsight Experience Replay which allows sample-efficient learning from rewards which are sparse and binary and…

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)…

Meta-reinforcement learning (meta-RL) has proven to be a successful framework for leveraging experience from prior tasks to rapidly learn new related tasks, however, current meta-RL approaches struggle to learn in sparse reward…

Developing effective instruction-following policies in reinforcement learning remains challenging due to the reliance on extensive human-labeled instruction datasets and the difficulty of learning from sparse rewards. In this paper, we…

Reinforcement learning requires interaction with an environment, which is expensive for robots. This constraint necessitates approaches that work with limited environmental interaction by maximizing the reuse of previous experiences. We…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Compared to reinforcement learning, imitation learning (IL) is a powerful paradigm for training agents to learn control policies efficiently from expert demonstrations. However, in most cases, obtaining demonstration data is costly and…

In class-incremental learning (CIL), effective incremental learning strategies are essential to mitigate task confusion and catastrophic forgetting, especially as the number of tasks $t$ increases. Current exemplar replay strategies impose…

Online reinforcement learning agents are currently able to process an increasing amount of data by converting it into a higher order value functions. This expansion of the information collected from the environment increases the agent's…

Designing reward functions for efficiently guiding reinforcement learning (RL) agents toward specific behaviors is a complex task. This is challenging since it requires the identification of reward structures that are not sparse and that…

In Continual Learning, a Neural Network is trained on a stream of data whose distribution shifts over time. Under these assumptions, it is especially challenging to improve on classes appearing later in the stream while remaining accurate…