Related papers: Skill-Critic: Refining Learned Skills for Hierarch…

In this paper, we present a novel Heavy-Tailed Stochastic Policy Gradient (HT-PSG) algorithm to deal with the challenges of sparse rewards in continuous control problems. Sparse reward is common in continuous control robotics tasks such as…

We propose Scheduled Auxiliary Control (SAC-X), a new learning paradigm in the context of Reinforcement Learning (RL). SAC-X enables learning of complex behaviors - from scratch - in the presence of multiple sparse reward signals. To this…

In this paper, we present a hierarchical path planning framework called SG-RL (subgoal graphs-reinforcement learning), to plan rational paths for agents maneuvering in continuous and uncertain environments. By "rational", we mean (1)…

The objective of lifelong reinforcement learning (RL) is to optimize agents which can continuously adapt and interact in changing environments. However, current RL approaches fail drastically when environments are non-stationary and…

Reinforcement Learning (RL) has become essential for eliciting complex reasoning capabilities in Large Language Models (LLMs). However, the substantial memory overhead of storing Key-Value (KV) caches during long-horizon rollouts acts as a…

Offline reinforcement learning (RL) holds promise as a means to learn high-reward policies from a static dataset, without the need for further environment interactions. However, a key challenge in offline RL lies in effectively stitching…

How do people decide how long to continue in a task, when to switch, and to which other task? Understanding the mechanisms that underpin task interleaving is a long-standing goal in the cognitive sciences. Prior work suggests greedy…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

In goal-conditioned reinforcement learning (GCRL), sparse rewards present significant challenges, often obstructing efficient learning. Although multi-step GCRL can boost this efficiency, it can also lead to off-policy biases in target…

Reinforcement Learning (RL) has enabled Large Language Models (LLMs) to achieve remarkable reasoning in domains like mathematics and coding, where verifiable rewards provide clear signals. However, extending this paradigm to financial…

The recent success of supervised learning methods on ever larger offline datasets has spurred interest in the reinforcement learning (RL) field to investigate whether the same paradigms can be translated to RL algorithms. This research…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

Multi-task reinforcement learning (RL) aims to find a single policy that effectively solves multiple tasks at the same time. This paper presents a constrained formulation for multi-task RL where the goal is to maximize the average…

Medical treatments often involve a sequence of decisions, each informed by previous outcomes. This process closely aligns with reinforcement learning (RL), a framework for optimizing sequential decisions to maximize cumulative rewards under…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

Hierarchical reinforcement learning (HRL) helps address large-scale and sparse reward issues in reinforcement learning. In HRL, the policy model has an inner representation structured in levels. With this structure, the reinforcement…

We present an algorithm for local, regularized, policy improvement in reinforcement learning (RL) that allows us to formulate model-based and model-free variants in a single framework. Our algorithm can be interpreted as a natural extension…

In multi-goal reinforcement learning (RL) settings, the reward for each goal is sparse, and located in a small neighborhood of the goal. In large dimension, the probability of reaching a reward vanishes and the agent receives little…