Related papers: Demystifying the Mechanisms Behind Emergent Explor…
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…
Unsupervised goal-conditioned reinforcement learning (GCRL) is a promising paradigm for developing diverse robotic skills without external supervision. However, existing unsupervised GCRL methods often struggle to cover a wide range of…
Goal-conditioned hierarchical reinforcement learning (GCHRL) provides a promising approach to solving long-horizon tasks. Recently, its success has been extended to more general settings by concurrently learning hierarchical policies and…
Efficient exploration for automatic subgoal discovery is a challenging problem in Hierarchical Reinforcement Learning (HRL). In this paper, we show that intrinsic motivation learning increases the efficiency of exploration, leading to…
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…
Reinforcement learning (RL) algorithms aim to balance exploiting the current best strategy with exploring new options that could lead to higher rewards. Most common RL algorithms use undirected exploration, i.e., select random sequences of…
Self-supervision has the potential to transform reinforcement learning (RL), paralleling the breakthroughs it has enabled in other areas of machine learning. While self-supervised learning in other domains aims to find patterns in a fixed…
Unsupervised reinforcement learning (RL) studies how to leverage environment statistics to learn useful behaviors without the cost of reward engineering. However, a central challenge in unsupervised RL is to extract behaviors that…
Sparse-reward reinforcement learning (RL) can model a wide range of highly complex tasks. Solving sparse-reward tasks is RL's core premise, requiring efficient exploration coupled with long-horizon credit assignment, and overcoming these…
Exploration in environments with sparse rewards remains a fundamental challenge in reinforcement learning (RL). Existing approaches such as curriculum learning and Go-Explore often rely on hand-crafted heuristics, while curiosity-driven…
One of the bottlenecks preventing Deep Reinforcement Learning algorithms (DRL) from real-world applications is how to explore the environment and collect informative transitions efficiently. The present paper describes bounded exploration,…
In this paper, we present empirical evidence of skills and directed exploration emerging from a simple RL algorithm long before any successful trials are observed. For example, in a manipulation task, the agent is given a single observation…
Symbolic Regression aims to automatically identify compact and interpretable mathematical expressions that model the functional relationship between input and output variables. Most existing search-based symbolic regression methods…
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,…
Intrinsic rewards can improve exploration in reinforcement learning, but the exploration process may suffer from instability caused by non-stationary reward shaping and strong dependency on hyperparameters. In this work, we introduce…
In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…
Contrastive Reinforcement Learning (CRL) provides a promising framework for extracting useful structured representations from unlabeled interactions. By pulling together state-action pairs and their corresponding future states, while…
Inverse Reinforcement Learning (IRL) aims to reconstruct the reward function from expert demonstrations to facilitate policy learning, and has demonstrated its remarkable success in imitation learning. To promote expert-like behavior,…
Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement Learning (SBSRL), a model-based RL algorithm that…
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,…