Related papers: Imaginary Hindsight Experience Replay: Curious Mod…

Conveying complex objectives to reinforcement learning (RL) agents often requires meticulous reward engineering. Preference-based RL methods are able to learn a more flexible reward model based on human preferences by actively incorporating…

This paper presents a novel form of policy gradient for model-free reinforcement learning (RL) with improved exploration properties. Current policy-based methods use entropy regularization to encourage undirected exploration of the reward…

Reinforcement learning is an appropriate and successful method to robustly perform low-level robot control under noisy conditions. Symbolic action planning is useful to resolve causal dependencies and to break a causally complex problem…

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…

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…

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,…

Actor critic methods with sparse rewards in model-based deep reinforcement learning typically require a deterministic binary reward function that reflects only two possible outcomes: if, for each step, the goal has been achieved or not. Our…

Exploration is essential in reinforcement learning as an agent relies on trial and error to learn an optimal policy. However, when rewards are sparse, naive exploration strategies, like noise injection, are often insufficient. Intrinsic…

While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely difficult due their inability to capture human intent and…

In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at…

Model based reinforcement learning has proven to be more sample efficient than model free methods. On the other hand, the construction of a dynamics model in model based reinforcement learning has increased complexity. Data processing tasks…

One of the challenges in applying reinforcement learning in a complex real-world environment lies in providing the agent with a sufficiently detailed reward function. Any misalignment between the reward and the desired behavior can result…

Multi-goal reinforcement learning is widely applied in planning and robot manipulation. Two main challenges in multi-goal reinforcement learning are sparse rewards and sample inefficiency. Hindsight Experience Replay (HER) aims to tackle…

Preference-based Reinforcement Learning (PbRL) provides a way to learn high-performance policies in environments where the reward signal is hard to specify, avoiding heuristic and time-consuming reward design. However, PbRL can suffer from…

All reinforcement learning algorithms must handle the trade-off between exploration and exploitation. Many state-of-the-art deep reinforcement learning methods use noise in the action selection, such as Gaussian noise in policy gradient…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

Prior work has proposed a simple strategy for reinforcement learning (RL): label experience with the outcomes achieved in that experience, and then imitate the relabeled experience. These outcome-conditioned imitation learning methods are…

Inverse reinforcement learning methods aim to retrieve the reward function of a Markov decision process based on a dataset of expert demonstrations. The commonplace scarcity and heterogeneous sources of such demonstrations can lead to the…

Dealing with environments with sparse rewards has always been crucial for systems developed to operate in autonomous open-ended learning settings. Intrinsic Motivations could be an effective way to help Deep Reinforcement Learning…