Related papers: Learning from Trajectories via Subgoal Discovery
Complex planning and scheduling problems have long been solved using various optimization or heuristic approaches. In recent years, imitation learning that aims to learn from expert demonstrations has been proposed as a viable alternative…
Hierarchical Reinforcement Learning (HRL) exploits temporally extended actions, or options, to make decisions from a higher-dimensional perspective to alleviate the sparse reward problem, one of the most challenging problems in…
This work handles the inverse reinforcement learning (IRL) problem where only a small number of demonstrations are available from a demonstrator for each high-dimensional task, insufficient to estimate an accurate reward function. Observing…
In this work, we address the challenging problem of long-horizon goal-reaching policy learning from non-expert, action-free observation data. Unlike fully labeled expert data, our data is more accessible and avoids the costly process of…
Hindsight goal relabeling has become a foundational technique in multi-goal reinforcement learning (RL). The essential idea is that any trajectory can be seen as a sub-optimal demonstration for reaching its final state. Intuitively,…
We consider the problem of learning from sparse and underspecified rewards, where an agent receives a complex input, such as a natural language instruction, and needs to generate a complex response, such as an action sequence, while only…
Consider mutli-goal tasks that involve static environments and dynamic goals. Examples of such tasks, such as goal-directed navigation and pick-and-place in robotics, abound. Two types of Reinforcement Learning (RL) algorithms are used for…
Common approaches to Reinforcement Learning (RL) are seriously challenged by large-scale applications involving huge state spaces and sparse delayed reward feedback. Hierarchical Reinforcement Learning (HRL) methods attempt to address this…
Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…
In Imitation Learning (IL), utilizing suboptimal and heterogeneous demonstrations presents a substantial challenge due to the varied nature of real-world data. However, standard IL algorithms consider these datasets as homogeneous, thereby…
Deep Reinforcement Learning has shown tremendous success in solving several games and tasks in robotics. However, unlike humans, it generally requires a lot of training instances. Trajectories imitating to solve the task at hand can help to…
Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…
Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…
Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…
Inverse Reinforcement Learning (IRL) has demonstrated effectiveness in a variety of imitation tasks. In this paper, we introduce an IRL framework designed to extract rewarding features from expert trajectories affected by delayed…
Imitation learning (IL) enables agents to acquire skills by observing and replicating the behavior of one or multiple experts. In recent years, advances in deep learning have significantly expanded the capabilities and scalability of…
The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…
We present a framework for learning useful subgoals that support efficient long-term planning to achieve novel goals. At the core of our framework is a collection of rational subgoals (RSGs), which are essentially binary classifiers over…
Offline imitation learning (IL) refers to learning expert behavior solely from demonstrations, without any additional interaction with the environment. Despite significant advances in offline IL, existing techniques find it challenging to…
Reinforcement Learning (RL) heavily relies on the careful design of the reward function. However, accurately assigning rewards to each state-action pair in Long-Term Reinforcement Learning (LTRL) tasks remains a significant challenge. As a…