Related papers: TLDR: Unsupervised Goal-Conditioned RL via Tempora…

Consider mutli-goal tasks that involve static environments and dynamic goals. Examples of such tasks, such as goal-directed navigation and pick-and-place in robotics, abound. Two types of Reinforcement Learning (RL) algorithms are used for…

In classic Reinforcement Learning (RL), the agent maximizes an additive objective of the visited states, e.g., a value function. Unfortunately, objectives of this type cannot model many real-world applications such as experiment design,…

Reinforcement learning (RL) has shown its strength in challenging sequential decision-making problems. The reward function in RL is crucial to the learning performance, as it serves as a measure of the task completion degree. In real-world…

Reinforcement learning (RL) is a promising approach. However, success is limited to real-world applications, because ensuring safe exploration and facilitating adequate exploitation is a challenge for controlling robotic systems with…

This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where…

Goal-conditioned reinforcement learning (GCRL) refers to learning general-purpose skills that aim to reach diverse goals. In particular, offline GCRL only requires purely pre-collected datasets to perform training tasks without additional…

Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-robot runtime, due to inefficient exploration when learning…

Single-task RL agents are typically trained under a fixed reward function, which limits their robustness to reward misspecification and their ability to adapt to changing preferences. We introduce Reward-Conditioned Reinforcement Learning…

Goal-conditioned reinforcement learning (RL) is a promising direction for training agents that are capable of solving multiple tasks and reach a diverse set of objectives. How to \textit{specify} and \textit{ground} these goals in such a…

We study a class of reinforcement learning (RL) tasks where the objective of the agent is to accomplish temporally extended goals. In this setting, a common approach is to represent the tasks as deterministic finite automata (DFA) and…

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…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

Model-free reinforcement learning (RL) is a powerful, general tool for learning complex behaviors. However, its sample efficiency is often impractically large for solving challenging real-world problems, even with off-policy algorithms such…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…

Unsupervised pretraining has driven empirical advances in goal-conditioned reinforcement learning (GCRL), but its theoretical foundations remain poorly understood. In particular, an influential class of methods, mutual information skill…

Unsupervised Reinforcement Learning (RL) provides a promising paradigm for learning useful behaviors via reward-free per-training. Existing methods for unsupervised RL mainly conduct empowerment-driven skill discovery or entropy-based…

Standard approaches to goal-conditioned reinforcement learning (GCRL) that rely on temporal-difference learning can be unstable and sample-inefficient due to bootstrapping. While recent work has explored contrastive and supervised…

Mastering deep reinforcement learning (DRL) proves challenging in tasks featuring scant rewards. These limited rewards merely signify whether the task is partially or entirely accomplished, necessitating various exploration actions before…

Offline goal-conditioned reinforcement learning (GCRL) promises general-purpose skill learning in the form of reaching diverse goals from purely offline datasets. We propose $\textbf{Go}$al-conditioned $f$-$\textbf{A}$dvantage…