Related papers: Soft Hindsight Experience Replay
Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…
We propose a graphical model framework for goal-conditioned RL, with an EM algorithm that operates on the lower bound of the RL objective. The E-step provides a natural interpretation of how 'learning in hindsight' techniques, such as HER,…
Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…
Efficient and effective learning is one of the ultimate goals of the deep reinforcement learning (DRL), although the compromise has been made in most of the time, especially for the application of robot manipulations. Learning is always…
Reinforcement learning (RL) algorithms allow artificial agents to improve their selection of actions to increase rewarding experiences in their environments. Temporal Difference (TD) Learning -- a model-free RL method -- is a leading…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Reinforcement learning can train LLM agents from sparse task rewards, but long-horizon credit assignment remains challenging: a single success-or-failure signal must be distributed across many actions. Existing methods rely on…
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…
Deep learning has proven to be an effective approach in the field of Human activity recognition (HAR), outperforming other architectures that require manual feature engineering. Despite recent advancements, challenges inherent to HAR data,…
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…
Despite the significant success at enabling robots with autonomous behaviors makes deep reinforcement learning a promising approach for robotic object search task, the deep reinforcement learning approach severely suffers from the nature…
Continual learning is the one of the most essential abilities for autonomous agents, which can incrementally learn daily-life skills. For this ultimate goal, a simple but powerful method, dark experience replay (DER), has been proposed…
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…
In many real-world scenarios, reward signal for agents are exceedingly sparse, making it challenging to learn an effective reward function for reward shaping. To address this issue, the proposed approach in this paper performs reward…
In recent years, a variety of tasks have been accomplished by deep reinforcement learning (DRL). However, when applying DRL to tasks in a real-world environment, designing an appropriate reward is difficult. Rewards obtained via actual…
Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…
Exploration in complex domains is a key challenge in reinforcement learning, especially for tasks with very sparse rewards. Recent successes in deep reinforcement learning have been achieved mostly using simple heuristic exploration…
Experience replay serves as a key component in the success of online reinforcement learning (RL). Prioritized experience replay (PER) reweights experiences by the temporal difference (TD) error empirically enhancing the performance.…
Deep Reinforcement Learning (RL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. To alleviate this issue, we propose to exploit the symmetries…
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…