Related papers: Hindsight Expectation Maximization for Goal-condit…
In Goal-oriented Reinforcement learning, relabeling the raw goals in past experience to provide agents with hindsight ability is a major solution to the reward sparsity problem. In this paper, to enhance the diversity of relabeled goals, we…
Language model (LM) agents deployed in novel environments often exhibit poor sample efficiency when learning from sequential interactions. This significantly hinders the usefulness of such agents in environments where interaction is costly…
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…
Several hierarchical reinforcement learning methods leverage planning to create a graph or sequences of intermediate goals, guiding a lower-level goal-conditioned (GC) policy to reach some final goals. The low-level policy is typically…
Complex sequential tasks in continuous-control settings often require agents to successfully traverse a set of "narrow passages" in their state space. Solving such tasks with a sparse reward in a sample-efficient manner poses a challenge to…
The Expectation--Maximization (EM) algorithm is a simple meta-algorithm that has been used for many years as a methodology for statistical inference when there are missing measurements in the observed data or when the data is composed of…
Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…
Many model-based reinforcement learning (RL) methods follow a similar template: fit a model to previously observed data, and then use data from that model for RL or planning. However, models that achieve better training performance (e.g.,…
Many AI problems, in robotics and other domains, are goal-based, essentially seeking trajectories leading to various goal states. Reinforcement learning (RL), building on Bellman's optimality equation, naturally optimizes for a single goal,…
It has been a challenge to learning skills for an agent from long-horizon unannotated demonstrations. Existing approaches like Hierarchical Imitation Learning(HIL) are prone to compounding errors or suboptimal solutions. In this paper, we…
Reinforcement Learning (RL) has achieved remarkable success in various domains, yet it often relies on carefully designed programmatic reward functions to guide agent behavior. Designing such reward functions can be challenging and may not…
Diffusion models have emerged as powerful generative priors for high-dimensional inverse problems, yet learning them when only corrupted or noisy observations are available remains challenging. In this work, we propose a new method for…
State-of-the-art efficient model-based Reinforcement Learning (RL) algorithms typically act by iteratively solving empirical models, i.e., by performing \emph{full-planning} on Markov Decision Processes (MDPs) built by the gathered…
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…
Reinforcement learning-based mapless navigation holds significant potential. However, it faces challenges in indoor environments with local minima area. This paper introduces a safe mapless navigation framework utilizing hierarchical…
Reinforcement learning (RL) can align language models with non-differentiable reward signals, such as human preferences. However, a major challenge arises from the sparsity of these reward signals - typically, there is only a single reward…
Meta-reinforcement learning (meta-RL) algorithms allow for agents to learn new behaviors from small amounts of experience, mitigating the sample inefficiency problem in RL. However, while meta-RL agents can adapt quickly to new tasks at…
In constrained reinforcement learning (C-RL), an agent seeks to learn from the environment a policy that maximizes the expected cumulative reward while satisfying minimum requirements in secondary cumulative reward constraints. Several…
Agents can base decisions made using reinforcement learning (RL) on a reward function. The selection of values for the learning algorithm parameters can, nevertheless, have a substantial impact on the overall learning process. In order to…
We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level…