相关论文: Bias-reduced Multi-step Hindsight Experience Repla…

Packing objects efficiently is a fundamental problem in logistics, warehouse automation, and robotics. While traditional packing solutions focus on geometric optimization, packing irregular, 3D objects presents significant challenges due to…

Experience replay is one of the most commonly used approaches to improve the sample efficiency of reinforcement learning algorithms. In this work, we propose an approach to select and replay sequences of transitions in order to accelerate…

In this paper, we consider cooperative multi-agent reinforcement learning (MARL) with sparse reward. To tackle this problem, we propose a novel method named MASER: MARL with subgoals generated from experience replay buffer. Under the…

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…

In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…

Machine learning algorithms learn to solve a task, but are unable to improve their ability to learn. Meta-learning methods learn about machine learning algorithms and improve them so that they learn more quickly. However, existing…

Experience replay \citep{lin1993reinforcement, mnih2015human} is a widely used technique to achieve efficient use of data and improved performance in RL algorithms. In experience replay, past transitions are stored in a memory buffer and…

Recent advancements in multi-modal large language models have propelled the development of joint probabilistic models capable of both image understanding and generation. However, we have identified that recent methods suffer from loss of…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Experience replay is crucial for off-policy reinforcement learning (RL) methods. By remembering and reusing the experiences from past different policies, experience replay significantly improves the training efficiency and stability of RL…

Experience replay enables data-efficient learning from past experiences in online reinforcement learning agents. Traditionally, experiences were sampled uniformly from a replay buffer, regardless of differences in experience-specific…

Recent state-of-the-art language models utilize a two-phase training procedure comprised of (i) unsupervised pre-training on unlabeled text, and (ii) fine-tuning for a specific supervised task. More recently, many studies have been focused…

Reinforcement learning has shown great potential in solving complex tasks when large amounts of data can be generated with little effort. In robotics, one approach to generate training data builds on simulations based on dynamics models…

Reward models play a key role in aligning language model applications towards human preferences. However, this setup creates an incentive for the language model to exploit errors in the reward model to achieve high estimated reward, a…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

Meta-learning allows an intelligent agent to leverage prior learning episodes as a basis for quickly improving performance on a novel task. Bayesian hierarchical modeling provides a theoretical framework for formalizing meta-learning as…

While experience replay is essential for data efficiency in reinforcement learning (RL), standard methods treat the replay buffer as a passive memory system, prioritizing samples based on numerical prediction errors rather than their…

Robotic manipulation and control has increased in importance in recent years. However, state of the art techniques still have limitations when required to operate in real world applications. This paper explores Hindsight Experience Replay…

The utilization of the experience replay mechanism enables agents to effectively leverage their experiences on several occasions. In previous studies, the sampling probability of the transitions was modified based on their relative…

Automatic prompt engineering aims to enhance the generation quality of large language models (LLMs). Recent works utilize feedbacks generated from erroneous cases to guide the prompt optimization. During inference, they may further retrieve…