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Hindsight Experience Replay (HER) is a multi-goal reinforcement learning algorithm for sparse reward functions. The algorithm treats every failure as a success for an alternative (virtual) goal that has been achieved in the episode. Virtual…

Dealing with sparse rewards is a long-standing challenge in reinforcement learning (RL). Hindsight Experience Replay (HER) addresses this problem by reusing failed trajectories for one goal as successful trajectories for another. This…

Efficient learning in the environment with sparse rewards is one of the most important challenges in Deep Reinforcement Learning (DRL). In continuous DRL environments such as robotic arms control, Hindsight Experience Replay (HER) has been…

Deep learning has achieved remarkable successes in solving challenging reinforcement learning (RL) problems when dense reward function is provided. However, in sparse reward environment it still often suffers from the need to carefully…

Learning optimal policies from sparse feedback is a known challenge in reinforcement learning. Hindsight Experience Replay (HER) is a multi-goal reinforcement learning algorithm that comes to solve such tasks. The algorithm treats every…

Hindsight Experience Replay (HER) is a technique used in reinforcement learning (RL) that has proven to be very efficient for training off-policy RL-based agents to solve goal-based robotic manipulation tasks using sparse rewards. Even…

Hindsight Experience Replay (HER) is one of the efficient algorithm to solve Reinforcement Learning tasks related to sparse rewarded environments.But due to its reduced sample efficiency and slower convergence HER fails to perform…

Multi-goal reinforcement learning is widely applied in planning and robot manipulation. Two main challenges in multi-goal reinforcement learning are sparse rewards and sample inefficiency. Hindsight Experience Replay (HER) aims to tackle…

Exploration in environments with sparse feedback remains a challenging research problem in reinforcement learning (RL). When the RL agent explores the environment randomly, it results in low exploration efficiency, especially in robotic…

Exploration with sparse rewards remains a challenging research problem in reinforcement learning (RL). Especially for sequential object manipulation tasks, the RL agent always receives negative rewards until completing all sub-tasks, which…

Solving multi-goal reinforcement learning (RL) problems with sparse rewards is generally challenging. Existing approaches have utilized goal relabeling on collected experiences to alleviate issues raised from sparse rewards. However, these…

Sparse rewards pose a significant challenge to achieving high sample efficiency in goal-conditioned reinforcement learning (RL). Specifically, in sequential manipulation tasks, the agent receives failure rewards until it successfully…

In multi-goal reinforcement learning (RL) settings, the reward for each goal is sparse, and located in a small neighborhood of the goal. In large dimension, the probability of reaching a reward vanishes and the agent receives little…

Sparse reward is one of the most challenging problems in reinforcement learning (RL). Hindsight Experience Replay (HER) attempts to address this issue by converting a failed experience to a successful one by relabeling the goals. Despite…

Hindsight experience replay (HER) is a goal relabelling technique typically used with off-policy deep reinforcement learning algorithms to solve goal-oriented tasks; it is well suited to robotic manipulation tasks that deliver only sparse…

Dealing with sparse rewards is one of the biggest challenges in Reinforcement Learning (RL). We present a novel technique called Hindsight Experience Replay which allows sample-efficient learning from rewards which are sparse and binary and…

Reinforcement Learning (RL) has shown promise for aligning Large Language Models (LLMs) to follow instructions with various constraints. Despite the encouraging results, RL improvement inevitably relies on sampling successful, high-quality…

In this paper, we propose SACHER (soft actor-critic (SAC) with hindsight experience replay (HER)), which constitutes a class of deep reinforcement learning (DRL) algorithms. SAC is known as an off-policy model-free DRL algorithm based on…

Even though reinforcement-learning-based algorithms achieved superhuman performance in many domains, the field of robotics poses significant challenges as the state and action spaces are continuous, and the reward function is predominantly…

In multi-goal reinforcement learning with a sparse binary reward, training agents is particularly challenging, due to a lack of successful experiences. To solve this problem, hindsight experience replay (HER) generates successful…