相关论文: Curriculum Learning with Hindsight Experience Repl…

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…

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…

Language creates a compact representation of the world and allows the description of unlimited situations and objectives through compositionality. While these characterizations may foster instructing, conditioning or structuring interactive…

Goal-conditioned reinforcement learning (GCRL) with sparse rewards remains a fundamental challenge in reinforcement learning. While hindsight experience replay (HER) has shown promise by relabeling collected trajectories with achieved…

We propose Teacher-Student Curriculum Learning (TSCL), a framework for automatic curriculum learning, where the Student tries to learn a complex task and the Teacher automatically chooses subtasks from a given set for the Student to train…

Sharing information between multiple tasks enables algorithms to achieve good generalization performance even from small amounts of training data. However, in a realistic scenario of multi-task learning not all tasks are equally related to…

Curriculum design is a fundamental component of education. For example, when we learn mathematics at school, we build upon our knowledge of addition to learn multiplication. These and other concepts must be mastered before our first algebra…

Reinforcement learning (RL) problems can be challenging without well-shaped rewards. Prior work on provably efficient RL methods generally proposes to address this issue with dedicated exploration strategies. However, another way to tackle…

Reinforcement learning (rl) is a popular paradigm for sequential decision making problems. The past decade's advances in rl have led to breakthroughs in many challenging domains such as video games, board games, robotics, and chip design.…

AlphaZero-like Monte Carlo Tree Search systems, originally introduced for two-player games, dynamically balance exploration and exploitation using neural network guidance. This combination makes them also suitable for classical search…

Continual Learning (CL) aims at incrementally learning new tasks without forgetting the knowledge acquired from old ones. Experience Replay (ER) is a simple and effective rehearsal-based strategy, which optimizes the model with current…

Video object segmentation can be understood as a sequence-to-sequence task that can benefit from the curriculum learning strategies for better and faster training of deep neural networks. This work explores different schedule sampling and…

Training a neural network using backpropagation algorithm requires passing error gradients sequentially through the network. The backward locking prevents us from updating network layers in parallel and fully leveraging the computing…

Continual learning aims to learn new tasks without forgetting previously learned ones. We hypothesize that representations learned to solve each task in a sequence have a shared structure while containing some task-specific properties. We…

Solving goal-oriented tasks is an important but challenging problem in reinforcement learning (RL). For such tasks, the rewards are often sparse, making it difficult to learn a policy effectively. To tackle this difficulty, we propose a new…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

Multi-task learning by robots poses the challenge of the domain knowledge: complexity of tasks, complexity of the actions required, relationship between tasks for transfer learning. We demonstrate that this domain knowledge can be learned…

Current reinforcement learning algorithms train an agent using forward-generated trajectories, which provide little guidance so that the agent can explore as much as possible. While realizing the value of reinforcement learning results from…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Episodic self-imitation learning, a novel self-imitation algorithm with a trajectory selection module and an adaptive loss function, is proposed to speed up reinforcement learning. Compared to the original self-imitation learning algorithm,…