Related papers: Offline Discovery of Interpretable Skills from Mul…

Demonstrations are an effective alternative to task specification for learning agents in settings where designing a reward function is difficult. However, demonstrating expert behavior in the action space of the agent becomes unwieldy when…

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…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

Learning options that allow agents to exhibit temporally higher order behavior has proven to be useful in increasing exploration, reducing sample complexity and for various transfer scenarios. Deep Discovery of Options (DDO) is a generative…

Recently, motion generation by machine learning has been actively researched to automate various tasks. Imitation learning is one such method that learns motions from data collected in advance. However, executing long-term tasks remains…

Reward-free, unsupervised discovery of skills is an attractive alternative to the bottleneck of hand-designing rewards in environments where task supervision is scarce or expensive. However, current skill pre-training methods, like many RL…

Recent advancements in large language models (LLMs) have exhibited promising performance in solving sequential decision-making problems. By imitating few-shot examples provided in the prompts (i.e., in-context learning), an LLM agent can…

We introduce LOKI, a compute-efficient framework for co-designing morphologies and control policies that generalize across unseen tasks. Inspired by biological adaptation -- where animals quickly adjust to morphological changes -- our…

Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However,…

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…

Learning to perform tasks by leveraging a dataset of expert observations, also known as imitation learning from observations (ILO), is an important paradigm for learning skills without access to the expert reward function or the expert…

Sequence models in reinforcement learning require task knowledge to estimate the task policy. This paper presents a hierarchical algorithm for learning a sequence model from demonstrations. The high-level mechanism guides the low-level…

It is challenging learning from demonstrated observation-only trajectories in a non-time-aligned environment because most imitation learning methods aim to imitate experts by following the demonstration step-by-step. However, aligned…

With the rapid development of AI-generated content, the future internet may be inundated with synthetic data, making the discrimination of authentic and credible multimodal data increasingly challenging. Synthetic data detection has thus…

Hierarchical Reinforcement Learning (HRL) agents have the potential to demonstrate appealing capabilities such as planning and exploration with abstraction, transfer, and skill reuse. Recent successes with HRL across different domains…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…

Standard reinforcement learning algorithms with a single policy perform poorly on tasks in complex environments involving sparse rewards, diverse behaviors, or long-term planning. This led to the study of algorithms that incorporate…

Hierarchical learning (HL) is key to solving complex sequential decision problems with long horizons and sparse rewards. It allows learning agents to break-up large problems into smaller, more manageable subtasks. A common approach to HL,…

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…

Hierarchical Reinforcement Learning (HRL) promises to solve long-horizon Reinforcement Learning (RL) tasks more efficiently than non-hierarchical counterparts by discovering and reusing temporally-extended skills. However, obtaining skills…