相关论文: Maximum Entropy Gain Exploration for Long Horizon …

We consider the problem of reinforcement learning under safety requirements, in which an agent is trained to complete a given task, typically formalized as the maximization of a reward signal over time, while concurrently avoiding…

We propose a multi-agent distributed reinforcement learning algorithm that balances between potentially conflicting short-term reward and sparse, delayed long-term reward, and learns with partial information in a dynamic environment. We…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Sparse reward problems are one of the biggest challenges in Reinforcement Learning. Goal-directed tasks are one such sparse reward problems where a reward signal is received only when the goal is reached. One promising way to train an agent…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

We study a security threat to reinforcement learning where an attacker poisons the learning environment to force the agent into executing a target policy chosen by the attacker. As a victim, we consider RL agents whose objective is to find…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

Several hierarchical reinforcement learning methods leverage planning to create a graph or sequences of intermediate goals, guiding a lower-level goal-conditioned (GC) policy to reach some final goals. The low-level policy is typically…

Inferring other agents' mental states such as their knowledge, beliefs and intentions is thought to be essential for effective interactions with other agents. Recently, multiagent systems trained via deep reinforcement learning have been…

We study a security threat to reinforcement learning where an attacker poisons the learning environment to force the agent into executing a target policy chosen by the attacker. As a victim, we consider RL agents whose objective is to find…

In order to compute near-optimal policies with policy-gradient algorithms, it is common in practice to include intrinsic exploration terms in the learning objective. Although the effectiveness of these terms is usually justified by an…

This paper deals with the problem of learning a skill-conditioned policy that acts meaningfully in the absence of a reward signal. Mutual information based objectives have shown some success in learning skills that reach a diverse set of…

In recent years Landmark Complexes have been successfully employed for localization-free and metric-free autonomous exploration using a group of sensing-limited and communication-limited robots in a GPS-denied environment. To ensure rapid…

Reliable and effective multi-task learning is a prerequisite for the development of robotic agents that can quickly learn to accomplish related, everyday tasks. However, in the reinforcement learning domain, multi-task learning has not…

Entropy regularization is used to get improved optimization performance in reinforcement learning tasks. A common form of regularization is to maximize policy entropy to avoid premature convergence and lead to more stochastic policies for…

Both entropy-minimizing and entropy-maximizing (curiosity) objectives for unsupervised reinforcement learning (RL) have been shown to be effective in different environments, depending on the environment's level of natural entropy. However,…

This paper presents a comprehensive overview of autotelic Reinforcement Learning (RL), emphasizing the role of intrinsic motivations in the open-ended formation of skill repertoires. We delineate the distinctions between knowledge-based and…

Exploration in complex domains is a key challenge in reinforcement learning, especially for tasks with very sparse rewards. Recent successes in deep reinforcement learning have been achieved mostly using simple heuristic exploration…

High sample complexity remains a barrier to the application of reinforcement learning (RL), particularly in multi-agent systems. A large body of work has demonstrated that exploration mechanisms based on the principle of optimism under…