相关论文: Learning Goal Embeddings via Self-Play for Hierarc…

Advances in reinforcement learning (RL) have led to its successful application in complex tasks with continuous state and action spaces. Despite these advances in practice, most theoretical work pertains to finite state and action spaces.…

Several recent works have been dedicated to unsupervised reinforcement learning in a single environment, in which a policy is first pre-trained with unsupervised interactions, and then fine-tuned towards the optimal policy for several…

Currently, deep reinforcement learning (RL) shows impressive results in complex gaming and robotic environments. Often these results are achieved at the expense of huge computational costs and require an incredible number of episodes of…

Self-play constitutes a fundamental paradigm for autonomous skill acquisition, whereby agents iteratively enhance their capabilities through self-directed environmental exploration. Conventional self-play frameworks exploit agent symmetry…

Goal-oriented reinforcement learning has recently been a practical framework for robotic manipulation tasks, in which an agent is required to reach a certain goal defined by a function on the state space. However, the sparsity of such…

Option discovery and skill acquisition frameworks are integral to the functioning of a Hierarchically organized Reinforcement learning agent. However, such techniques often yield a large number of options or skills, which can potentially be…

We study the problem of learning a good set of policies, so that when combined together, they can solve a wide variety of unseen reinforcement learning tasks with no or very little new data. Specifically, we consider the framework of…

We propose and address a novel few-shot RL problem, where a task is characterized by a subtask graph which describes a set of subtasks and their dependencies that are unknown to the agent. The agent needs to quickly adapt to the task over…

Robot control problems are often structured with a policy function that maps state values into control values, but in many dynamic problems the observed state can have a difficult to characterize relationship with useful policy actions. In…

Goal-conditioned hierarchical reinforcement learning (HRL) has shown promising results for solving complex and long-horizon RL tasks. However, the action space of high-level policy in the goal-conditioned HRL is often large, so it results…

In many real-world scenarios, an autonomous agent often encounters various tasks within a single complex environment. We propose to build a graph abstraction over the environment structure to accelerate the learning of these tasks. Here,…

Many important real-world problems have action spaces that are high-dimensional, continuous or both, making full enumeration of all possible actions infeasible. Instead, only small subsets of actions can be sampled for the purpose of policy…

We consider problems in sequential decision making with natural multi-level structure, where sub-tasks are assembled together to accomplish complex goals. Systematically inferring and leveraging hierarchical structure has remained a…

Current state-of-the-art approaches to text classification typically leverage BERT-style Transformer models with a softmax classifier, jointly fine-tuned to predict class labels of a target task. In this paper, we instead propose an…

Solving long-horizon goal-conditioned tasks remains a significant challenge in reinforcement learning (RL). Hierarchical reinforcement learning (HRL) addresses this by decomposing tasks into more manageable sub-tasks, but the automatic…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

Goal-conditioned policies are used in order to break down complex reinforcement learning (RL) problems by using subgoals, which can be defined either in state space or in a latent feature space. This can increase the efficiency of learning…

Learning interpretable and transferable subpolicies and performing task decomposition from a single, complex task is difficult. Some traditional hierarchical reinforcement learning techniques enforce this decomposition in a top-down manner,…

What is a good exploration strategy for an agent that interacts with an environment in the absence of external rewards? Ideally, we would like to get a policy driving towards a uniform state-action visitation (highly exploring) in a minimum…

A key challenge for reinforcement learning (RL) consists of learning in environments with sparse extrinsic rewards. In contrast to current RL methods, humans are able to learn new skills with little or no reward by using various forms of…