相关论文: Self-Supervised Exploration via Disagreement

Reinforcement learning allows solving complex tasks, however, the learning tends to be task-specific and the sample efficiency remains a challenge. We present Plan2Explore, a self-supervised reinforcement learning agent that tackles both…

Model-based reinforcement learning is a powerful tool, but collecting data to fit an accurate model of the system can be costly. Exploring an unknown environment in a sample-efficient manner is hence of great importance. However, the…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Efficient exploration is an unsolved problem in Reinforcement Learning which is usually addressed by reactively rewarding the agent for fortuitously encountering novel situations. This paper introduces an efficient active exploration…

How do you incentivize self-interested agents to $\textit{explore}$ when they prefer to $\textit{exploit}$? We consider complex exploration problems, where each agent faces the same (but unknown) MDP. In contrast with traditional…

In many real-world scenarios, rewards extrinsic to the agent are extremely sparse, or absent altogether. In such cases, curiosity can serve as an intrinsic reward signal to enable the agent to explore its environment and learn skills that…

Learning complex robot behavior through interactions with the environment necessitates principled exploration. Effective strategies should prioritize exploring regions of the state-action space that maximize rewards, with optimistic…

Incomplete knowledge of the environment leads an agent to make decisions under uncertainty. One of the major dilemmas in Reinforcement Learning (RL) where an autonomous agent has to balance two contrasting needs in making its decisions is:…

Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…

Unsupervised skill discovery aims to learn diverse and distinguishable behaviors in open-ended reinforcement learning. For existing methods, they focus on improving diversity through pure exploration, mutual information optimization, and…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

Autonomous artificial agents must be able to learn behaviors in complex environments without humans to design tasks and rewards. Designing these functions for each environment is not feasible, thus, motivating the development of intrinsic…

Exploration is a crucial skill for in-context reinforcement learning in unknown environments. However, it remains unclear if large language models can effectively explore a partially hidden state space. This work isolates exploration as the…

Learning optimal policies in sparse rewards settings is difficult as the learning agent has little to no feedback on the quality of its actions. In these situations, a good strategy is to focus on exploration, hopefully leading to the…

Efficient exploration is a long-standing problem in reinforcement learning since extrinsic rewards are usually sparse or missing. A popular solution to this issue is to feed an agent with novelty signals as intrinsic rewards. In this work,…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

Exploration is a crucial and distinctive aspect of reinforcement learning (RL) that remains a fundamental open problem. Several methods have been proposed to tackle this challenge. Commonly used methods inject random noise directly into the…

The exploration \& exploitation dilemma poses significant challenges in reinforcement learning (RL). Recently, curiosity-based exploration methods achieved great success in tackling hard-exploration problems. However, they necessitate…

An agent learning through interactions should balance its action selection process between probing the environment to discover new rewards and using the information acquired in the past to adopt useful behaviour. This trade-off is usually…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…