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Reinforcement learning algorithms use correlations between policies and rewards to improve agent performance. But in dynamic or sparsely rewarding environments these correlations are often too small, or rewarding events are too infrequent…

Continually solving new, unsolved tasks is the key to learning diverse behaviors. Through reinforcement learning (RL), we have made massive strides towards solving tasks that have a single goal. However, in the multi-task domain, where an…

Goal-directed Reinforcement Learning (RL) traditionally considers an agent interacting with an environment, prescribing a real-valued reward to an agent proportional to the completion of some goal. Goal-directed RL has seen large gains in…

Self-play constitutes a fundamental paradigm for autonomous skill acquisition, whereby agents iteratively enhance their capabilities through self-directed environmental exploration. Conventional self-play frameworks exploit agent symmetry…

Multi-agent football poses an unsolved challenge in AI research. Existing work has focused on tackling simplified scenarios of the game, or else leveraging expert demonstrations. In this paper, we develop a multi-agent system to play the…

We describe a simple scheme that allows an agent to learn about its environment in an unsupervised manner. Our scheme pits two versions of the same agent, Alice and Bob, against one another. Alice proposes a task for Bob to complete; and…

Curriculum reinforcement learning (CRL) improves the learning speed and stability of an agent by exposing it to a tailored series of tasks throughout learning. Despite empirical successes, an open question in CRL is how to automatically…

In open-ended environments, autonomous learning agents must set their own goals and build their own curriculum through an intrinsically motivated exploration. They may consider a large diversity of goals, aiming to discover what is…

In the intrinsically motivated skills acquisition problem, the agent is set in an environment without any pre-defined goals and needs to acquire an open-ended repertoire of skills. To do so the agent needs to be autotelic (deriving from the…

The coordination of multiple autonomous agents in high-speed, competitive environments represents a significant engineering challenge. This paper presents CRUISE (Curriculum-Based Iterative Self-Play for Scalable Multi-Drone Racing), a…

Curriculum learning is a training method in which an agent is first trained on a curriculum of relatively simple tasks related to a target task in an effort to shorten the time required to train on the target task. Autonomous curriculum…

Recent work on designing an appropriate distribution of environments has shown promise for training effective generally capable agents. Its success is partly because of a form of adaptive curriculum learning that generates environment…

Asymmetric self-play has emerged as a promising paradigm for post-training large language models, where a teacher continually generates questions for a student to solve at the edge of the student's learnability. Although these methods…

A significant bottleneck in applying current reinforcement learning algorithms to real-world scenarios is the need to reset the environment between every episode. This reset process demands substantial human intervention, making it…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Zero-shot coordination problem in multi-agent reinforcement learning (MARL), which requires agents to adapt to unseen agents, has attracted increasing attention. Traditional approaches often rely on the Self-Play (SP) framework to generate…

We train a single, goal-conditioned policy that can solve many robotic manipulation tasks, including tasks with previously unseen goals and objects. We rely on asymmetric self-play for goal discovery, where two agents, Alice and Bob, play a…

The automated generation of diverse and complex training scenarios has been an important ingredient in many complex learning tasks. Especially in real-world application domains, such as autonomous driving, auto-curriculum generation is…

Real-time control for robotics is a popular research area in the reinforcement learning community. Through the use of techniques such as reward shaping, researchers have managed to train online agents across a multitude of domains. Despite…