相关论文: Direct then Diffuse: Incremental Unsupervised Skil…

The optimal way for a deep reinforcement learning (DRL) agent to explore is to learn a set of skills that achieves a uniform distribution of states. Following this,we introduce DisTop, a new model that simultaneously learns diverse skills…

Skill-based reinforcement learning (RL) approaches have shown considerable promise, especially in solving long-horizon tasks via hierarchical structures. These skills, learned task-agnostically from offline datasets, can accelerate the…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Transfer reinforcement learning aims to improve the sample efficiency of solving unseen new tasks by leveraging experiences obtained from previous tasks. We consider the setting where all tasks (MDPs) share the same environment dynamic…

Reinforcement learning (RL) often faces the challenges of uninformed search problems where the agent should explore without access to the domain knowledge such as characteristics of the environment or external rewards. To tackle these…

Conventionally, model-based reinforcement learning (MBRL) aims to learn a global model for the dynamics of the environment. A good model can potentially enable planning algorithms to generate a large variety of behaviors and solve diverse…

Unsupervised goal-conditioned reinforcement learning (GCRL) is a promising paradigm for developing diverse robotic skills without external supervision. However, existing unsupervised GCRL methods often struggle to cover a wide range of…

Recent work on designing an appropriate distribution of environments has shown promise for training effective generally capable agents. Its success is partly because of a form of adaptive curriculum learning that generates environment…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

A reinforcement learning agent that needs to pursue different goals across episodes requires a goal-conditional policy. In addition to their potential to generalize desirable behavior to unseen goals, such policies may also enable…

We propose a novel Reinforcement Learning model for discrete environments, which is inherently interpretable and supports the discovery of deep subgoal hierarchies. In the model, an agent learns information about environment in the form of…

Reinforcement learning algorithms are typically limited to learning a single solution for a specified task, even though diverse solutions often exist. Recent studies showed that learning a set of diverse solutions is beneficial because…

Solving tasks with sparse rewards is one of the most important challenges in reinforcement learning. In the single-agent setting, this challenge is addressed by introducing intrinsic rewards that motivate agents to explore unseen regions of…

Learning a policy capable of moving an agent between any two states in the environment is important for many robotics problems involving navigation and manipulation. Due to the sparsity of rewards in such tasks, applying reinforcement…

Deep learning has become the method of choice to tackle real-world problems in different domains, partly because of its ability to learn from data and achieve impressive performance on a wide range of applications. However, its success…

We present two practical improvement techniques for unsupervised segmentation learning. These techniques address limitations in the resolution and accuracy of predicted segmentation maps of recent state-of-the-art methods. Firstly, we…

Reinforcement learning offers the promise of automating the acquisition of complex behavioral skills. However, compared to commonly used and well-understood supervised learning methods, reinforcement learning algorithms can be brittle,…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

Deep reinforcement Learning for end-to-end driving is limited by the need of complex reward engineering. Sparse rewards can circumvent this challenge but suffers from long training time and leads to sub-optimal policy. In this work, we…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…