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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…

Hierarchical reinforcement learning (HRL) improves the efficiency of long-horizon reinforcement-learning tasks with sparse rewards by decomposing the task into a hierarchy of subgoals. The main challenge of HRL is efficient discovery of the…

Hierarchical Reinforcement Learning (HRL) is a promising approach to solving long-horizon problems with sparse and delayed rewards. Many existing HRL algorithms either use pre-trained low-level skills that are unadaptable, or require…

Hierarchical reinforcement learning (HRL) has seen widespread interest as an approach to tractable learning of complex modular behaviors. However, existing work either assume access to expert-constructed hierarchies, or use…

Offline Reinforcement learning (RL) has shown potent in many safe-critical tasks in robotics where exploration is risky and expensive. However, it still struggles to acquire skills in temporally extended tasks. In this paper, we study the…

Hierarchical reinforcement learning (HRL) is hypothesized to be able to leverage the inherent hierarchy in learning tasks where traditional reinforcement learning (RL) often fails. In this research, HRL is evaluated and contrasted with…

Developing agents capable of exploring, planning and learning in complex open-ended environments is a grand challenge in artificial intelligence (AI). Hierarchical reinforcement learning (HRL) offers a promising solution to this challenge…

An inverse reinforcement learning (IRL) agent learns to act intelligently by observing expert demonstrations and learning the expert's underlying reward function. Although learning the reward functions from demonstrations has achieved great…

The high-dimensional or sparse reward task of a reinforcement learning (RL) environment requires a superior potential controller such as hierarchical reinforcement learning (HRL) rather than an atomic RL because it absorbs the complexity of…

Recent advancements in reinforcement learning have made significant impacts across various domains, yet they often struggle in complex multi-agent environments due to issues like algorithm instability, low sampling efficiency, and the…

In this work, we propose a hierarchical reinforcement learning (HRL) structure which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network…

Open-domain dialog generation is a challenging problem; maximum likelihood training can lead to repetitive outputs, models have difficulty tracking long-term conversational goals, and training on standard movie or online datasets may lead…

Reinforcement Learning (RL) struggles in problems with delayed rewards, and one approach is to segment the task into sub-tasks with incremental rewards. We propose a framework called Hierarchical Inverse Reinforcement Learning (HIRL), which…

Reinforcement Learning (RL) has demonstrated promising results in learning policies for complex tasks, but it often suffers from low sample efficiency and limited transferability. Hierarchical RL (HRL) methods aim to address the difficulty…

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…

The options framework in Hierarchical Reinforcement Learning breaks down overall goals into a combination of options or simpler tasks and associated policies, allowing for abstraction in the action space. Ideally, these options can be…

In recent years, robots and autonomous systems have become increasingly integral to our daily lives, offering solutions to complex problems across various domains. Their application in search and rescue (SAR) operations, however, presents…

Hierarchical reinforcement learning (HRL) holds great potential for sample-efficient learning on challenging long-horizon tasks. In particular, letting a higher level assign subgoals to a lower level has been shown to enable fast learning…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…