相关论文: Improvements on Hindsight Learning

Reinforcement learning (RL) is a general framework for adaptive control, which has proven to be efficient in many domains, e.g., board games, video games or autonomous vehicles. In such problems, an agent faces a sequential decision-making…

A major challenge in real-world reinforcement learning (RL) is the sparsity of reward feedback. Often, what is available is an intuitive but sparse reward function that only indicates whether the task is completed partially or fully.…

In order to provide adaptive and user-friendly solutions to robotic manipulation, it is important that the agent can learn to accomplish tasks even if they are only provided with very sparse instruction signals. To address the issues…

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…

Learning complex tasks from scratch is challenging and often impossible for humans as well as for artificial agents. A curriculum can be used instead, which decomposes a complex task (target task) into a sequence of source tasks (the…

Reinforcement learning is a powerful technique to train an agent to perform a task. However, an agent that is trained using reinforcement learning is only capable of achieving the single task that is specified via its reward function. Such…

Humans generally use natural language to communicate task requirements to each other. Ideally, natural language should also be usable for communicating goals to autonomous machines (e.g., robots) to minimize friction in task specification.…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Image-based reinforcement learning (RL) faces significant challenges in generalization when the visual environment undergoes substantial changes between training and deployment. Under such circumstances, learned policies may not perform…

Hindsight goal relabeling has become a foundational technique in multi-goal reinforcement learning (RL). The essential idea is that any trajectory can be seen as a sub-optimal demonstration for reaching its final state. Intuitively,…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…

There is a recent trend of applying multi-agent reinforcement learning (MARL) to train an agent that can cooperate with humans in a zero-shot fashion without using any human data. The typical workflow is to first repeatedly run self-play…

Reinforcement learning generates policies based on reward functions and hyperparameters. Slight changes in these can significantly affect results. The lack of documentation and reproducibility in Reinforcement learning research makes it…

We propose a graphical model framework for goal-conditioned RL, with an EM algorithm that operates on the lower bound of the RL objective. The E-step provides a natural interpretation of how 'learning in hindsight' techniques, such as HER,…

Reinforcement learning offers the promise of automating the acquisition of complex behavioral skills. However, compared to commonly used and well-understood supervised learning methods, reinforcement learning algorithms can be brittle,…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

Reinforcement learning has the potential to automate the acquisition of behavior in complex settings, but in order for it to be successfully deployed, a number of practical challenges must be addressed. First, in real world settings, when…

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…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

Traditional reinforcement learning agents learn from experience, past or present, gained through interaction with their environment. Our approach synthesizes experience, without requiring an agent to interact with their environment, by…