Related papers: Offline Policy Learning via Skill-step Abstraction…
Exploration efficiency poses a significant challenge in goal-conditioned reinforcement learning (GCRL) tasks, particularly those with long horizons and sparse rewards. A primary limitation to exploration efficiency is the agent's inability…
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…
Offline Goal-Conditioned Reinforcement Learning seeks to train agents to reach specified goals from previously collected trajectories. Scaling that promises to long-horizon tasks remains challenging, notably due to compounding…
Curiosity has established itself as a powerful exploration strategy in deep reinforcement learning. Notably, leveraging expected future novelty as intrinsic motivation has been shown to efficiently generate exploratory trajectories, as well…
Offline Goal-Conditioned Reinforcement Learning (GCRL) is tasked with learning to achieve multiple goals in an environment purely from offline datasets using sparse reward functions. Offline GCRL is pivotal for developing generalist agents…
Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…
Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels. Promising results in sparse reward environments have been seen with skills, i.e. sequences of…
Learning a goal-oriented dialog policy is generally performed offline with supervised learning algorithms or online with reinforcement learning (RL). Additionally, as companies accumulate massive quantities of dialog transcripts between…
Offline reinforcement learning (RL) aims to infer sequential decision policies using only offline datasets. This is a particularly difficult setup, especially when learning to achieve multiple different goals or outcomes under a given…
In this work, we present an in-context policy adaptation (ICPAD) framework designed for long-horizon multi-task environments, exploring diffusion-based skill learning techniques in cross-domain settings. The framework enables rapid…
In this study, we address the challenge of learning generalizable policies for compositional tasks defined by logical specifications. These tasks consist of multiple temporally extended sub-tasks. Due to the sub-task inter-dependencies and…
It is of significance for an agent to learn a widely applicable and general-purpose policy that can achieve diverse goals including images and text descriptions. Considering such perceptually-specific goals, the frontier of deep…
Unsupervised and self-supervised objectives, such as next token prediction, have enabled pre-training generalist models from large amounts of unlabeled data. In reinforcement learning (RL), however, finding a truly general and scalable…
Recently, graph-based planning algorithms have gained much attention to solve goal-conditioned reinforcement learning (RL) tasks: they provide a sequence of subgoals to reach the target-goal, and the agents learn to execute…
Goal-Conditioned Reinforcement Learning (GCRL) provides a versatile framework for developing unified controllers capable of handling wide ranges of tasks, exploring environments, and adapting behaviors. However, its reliance on…
Offline goal-conditioned reinforcement learning (GCRL) is a major problem in reinforcement learning (RL) because it provides a simple, unsupervised, and domain-agnostic way to acquire diverse behaviors and representations from unlabeled…
Offline goal-conditioned reinforcement learning remains challenging for long-horizon tasks. While hierarchical approaches mitigate this issue by decomposing tasks, most existing methods rely on separate high- and low-level networks and…
We propose a novel parameterized skill-learning algorithm that aims to learn transferable parameterized skills and synthesize them into a new action space that supports efficient learning in long-horizon tasks. We propose to leverage…
In offline reinforcement learning, a policy is learned using a static dataset in the absence of costly feedback from the environment. In contrast to the online setting, only using static datasets poses additional challenges, such as…
Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…