相关论文: Learning Multi-Level Hierarchies with Hindsight

Synchronizing decisions across multiple agents in realistic settings is problematic since it requires agents to wait for other agents to terminate and communicate about termination reliably. Ideally, agents should learn and execute…

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…

Many multiagent systems in the real world include multiple types of agents with different abilities and functionality. Such heterogeneous multiagent systems have significant practical advantages. However, they also come with challenges…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…

Due to their complex nonlinear dynamics and batch-to-batch variability, batch processes pose a challenge for process control. Due to the absence of accurate models and resulting plant-model mismatch, these problems become harder to address…

Hierarchical Reinforcement Learning (HRL) approaches have shown successful results in solving a large variety of complex, structured, long-horizon problems. Nevertheless, a full theoretical understanding of this empirical evidence is…

Multi-Agent Reinforcement Learning (MARL) has been successful in solving many cooperative challenges. However, classic non-hierarchical MARL algorithms still cannot address various complex multi-agent problems that require hierarchical…

Learning control from pixels is difficult for reinforcement learning (RL) agents because representation learning and policy learning are intertwined. Previous approaches remedy this issue with auxiliary representation learning tasks, but…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Applying Deep Reinforcement Learning (DRL) to Human-Robot Cooperation (HRC) in dynamic control problems is promising yet challenging as the robot needs to learn the dynamics of the controlled system and dynamics of the human partner. In…

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…

Multi-agent reinforcement learning has been successfully applied to a number of challenging problems. Despite these empirical successes, theoretical understanding of different algorithms is lacking, primarily due to the curse of…

The combination of exponentially large action spaces, stochastic dynamics, and long-horizon decision-making under limited resources makes Sequential Stochastic Combinatorial Optimization (SSCO) particularly challenging for reinforcement…

Large language model (LLM) agents have recently demonstrated strong capabilities in interactive decision-making, yet they remain fundamentally limited in long-horizon tasks that require structured planning and reliable execution. Existing…

Hierarchical model-based reinforcement learning (HMBRL) aims to combine the benefits of better sample efficiency of model based reinforcement learning (MBRL) with the abstraction capability of hierarchical reinforcement learning (HRL) to…

Hierarchical Reinforcement Learning (HRL) has held longstanding promise to advance reinforcement learning. Yet, it has remained a considerable challenge to develop practical algorithms that exhibit some of these promises. To improve our…

Learning to solve long horizon temporally extended tasks with reinforcement learning has been a challenge for several years now. We believe that it is important to leverage both the hierarchical structure of complex tasks and to use expert…

Hierarchical decomposition of control is unavoidable in large dynamical systems. In reinforcement learning (RL), it is usually solved with subgoals defined at higher policy levels and achieved at lower policy levels. Reaching these goals…

Goal representation affects the performance of Hierarchical Reinforcement Learning (HRL) algorithms by decomposing the complex learning problem into easier subtasks. Recent studies show that representations that preserve temporally abstract…

Biological agents learn and act intelligently in spite of a highly limited capacity to process and store information. Many real-world problems involve continuous control, which represents a difficult task for artificial intelligence agents.…