Related papers: SkiLD: Unsupervised Skill Discovery Guided by Fact…

Unsupervised Skill Discovery (USD) aims to autonomously learn a diverse set of skills without relying on extrinsic rewards. One of the most common USD approaches is to maximize the Mutual Information (MI) between skill latent variables and…

We study the problem of unsupervised skill discovery, whose goal is to learn a set of diverse and useful skills with no external reward. There have been a number of skill discovery methods based on maximizing the mutual information (MI)…

Unsupervised Reinforcement Learning (RL) aims to discover diverse behaviors that can accelerate the learning of downstream tasks. Previous methods typically focus on entropy-based exploration or empowerment-driven skill learning. However,…

Skills are essential for unlocking higher levels of problem solving. A common approach to discovering these skills is to learn ones that reliably reach different states, thus empowering the agent to control its environment. However,…

This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Unsupervised skill discovery seeks to acquire different useful skills…

Learning meaningful behaviors in the absence of reward is a difficult problem in reinforcement learning. A desirable and challenging unsupervised objective is to learn a set of diverse skills that provide a thorough coverage of the state…

Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…

Skill discovery methods enable agents to learn diverse emergent behaviors without explicit rewards. To make learned skills useful for unknown downstream tasks, obtaining a semantically diverse repertoire of skills is essential. While some…

One of the key capabilities of intelligent agents is the ability to discover useful skills without external supervision. However, the current unsupervised skill discovery methods are often limited to acquiring simple, easy-to-learn skills…

Self-supervised skill learning aims to acquire useful behaviors that leverage the underlying dynamics of the environment. Latent variable models, based on mutual information maximization, have been successful in this task but still struggle…

How can a reinforcement learning (RL) agent prepare to solve downstream tasks if those tasks are not known a priori? One approach is unsupervised skill discovery, a class of algorithms that learn a set of policies without access to a reward…

In reinforcement learning, unsupervised skill discovery aims to learn diverse skills without extrinsic rewards. Previous methods discover skills by maximizing the mutual information (MI) between states and skills. However, such an MI…

Unsupervised skill discovery aims to acquire behavior primitives that improve exploration and accelerate downstream task learning. However, existing approaches often ignore the geometric symmetries of physical environments, leading to…

Unsupervised reinforcement learning aims to acquire skills without prior goal representations, where an agent automatically explores an open-ended environment to represent goals and learn the goal-conditioned policy. However, this procedure…

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…

A hallmark of intelligent agents is the ability to learn reusable skills purely from unsupervised interaction with the environment. However, existing unsupervised skill discovery methods often learn entangled skills where one skill variable…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

The learning efficiency and generalization ability of an intelligent agent can be greatly improved by utilizing a useful set of skills. However, the design of robot skills can often be intractable in real-world applications due to the…

Pre-training Reinforcement Learning agents in a task-agnostic manner has shown promising results. However, previous works still struggle in learning and discovering meaningful skills in high-dimensional state-spaces, such as pixel-spaces.…