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Goal-Conditioned Reinforcement Learning (GCRL) can enable agents to spontaneously set diverse goals to learn a set of skills. Despite the excellent works proposed in various fields, reaching distant goals in temporally extended tasks…
Building autonomous machines that can explore open-ended environments, discover possible interactions and build repertoires of skills is a general objective of artificial intelligence. Developmental approaches argue that this can only be…
Goal-conditioned reinforcement learning (GCRL), related to a set of complex RL problems, trains an agent to achieve different goals under particular scenarios. Compared to the standard RL solutions that learn a policy solely depending on…
This paper investigates robust representation learning in offline goal-conditioned reinforcement learning (GCRL). Particularly in sparse reward scenarios, learning representations that align state and goal latents is a challenge that…
As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and…
Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of…
Goal-conditioned reinforcement learning (GCRL) allows agents to learn diverse objectives using a unified policy. The success of GCRL, however, is contingent on the choice of goal representation. In this work, we propose a mask-based goal…
Can we use reinforcement learning to learn general-purpose policies that can perform a wide range of different tasks, resulting in flexible and reusable skills? Contextual policies provide this capability in principle, but the…
Learning to reach goal states and learning diverse skills through mutual information (MI) maximization have been proposed as principled frameworks for self-supervised reinforcement learning, allowing agents to acquire broadly applicable…
Goal-conditioned reinforcement learning (RL) concerns the problem of training an agent to maximize the probability of reaching target goal states. This paper presents an analysis of the goal-conditioned setting based on optimal control. In…
In this work, we introduce dual goal representations for goal-conditioned reinforcement learning (GCRL). A dual goal representation characterizes a state by "the set of temporal distances from all other states"; in other words, it encodes a…
We propose a hierarchical entity-centric framework for offline Goal-Conditioned Reinforcement Learning (GCRL) that combines subgoal decomposition with factored structure to solve long-horizon tasks in domains with multiple entities.…
Reinforcement Learning (RL) is increasingly applied to large-scale decision-making problems like logistics, scheduling, and recommender systems, but existing algorithms struggle with the curse of dimensionality in such large discrete action…
Approaches for goal-conditioned reinforcement learning (GCRL) often use learned state representations to extract goal-reaching policies. Two frameworks for representation structure have yielded particularly effective GCRL algorithms: (1)…
Offline goal-conditioned reinforcement learning (GCRL) provides a practical framework for obtaining goal-reaching policies from fixed datasets. However, learning a reliable goal-conditioned value function in long-horizon tasks remains…
In reinforcement learning (RL), it is easier to solve a task if given a good representation. While deep RL should automatically acquire such good representations, prior work often finds that learning representations in an end-to-end fashion…
Reinforcement learning (RL) often struggles to accomplish a sparse-reward long-horizon task in a complex environment. Goal-conditioned reinforcement learning (GCRL) has been employed to tackle this difficult problem via a curriculum of…
Building generalizable goal-conditioned agents from rich observations is a key to reinforcement learning (RL) solving real world problems. Traditionally in goal-conditioned RL, an agent is provided with the exact goal they intend to reach.…
We study the problem of predicting and controlling the future state distribution of an autonomous agent. This problem, which can be viewed as a reframing of goal-conditioned reinforcement learning (RL), is centered around learning a…
We study the problem of learning optimal behavior from sub-optimal datasets for goal-conditioned offline reinforcement learning under sparse rewards, invertible actions and deterministic transitions. To mitigate the effects of…