相关论文: Reinforcement Learning with Action-Free Pre-Traini…

Offline reinforcement learning (RL) struggles in environments with rich and noisy inputs, where the agent only has access to a fixed dataset without environment interactions. Past works have proposed common workarounds based on the…

Reinforcement learning is able to solve complex sequential decision-making tasks but is currently limited by sample efficiency and required computation. To improve sample efficiency, recent work focuses on model-based RL which interleaves…

A random recurrent neural network, called a reservoir, can be used to learn robot movements conditioned on context inputs that encode task goals. The Learning is achieved by mapping the random dynamics of the reservoir modulated by context…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Visual Reinforcement Learning is a popular and powerful framework that takes full advantage of the Deep Learning breakthrough. It is known that variations in input domains (e.g., different panorama colors due to seasonal changes) or task…

Reinforcement learning (RL) has proven highly effective in eliciting the reasoning capabilities of large language models (LLMs). Inspired by this success, recent studies have explored applying similar techniques to vision-language models…

A major bottleneck for developing general reinforcement learning agents is determining rewards that will yield desirable behaviors under various circumstances. We introduce a general mechanism for automatically specifying meaningful…

We study reinforcement learning (RL) problems in which agents observe the reward or transition realizations at their current state before deciding which action to take. Such observations are available in many applications, including…

In reinforcement learning (RL), it is easier to solve a task if given a good representation. While deep RL should automatically acquire such good representations, prior work often finds that learning representations in an end-to-end fashion…

Video representation learning has recently attracted attention in computer vision due to its applications for activity and scene forecasting or vision-based planning and control. Video prediction models often learn a latent representation…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Model-based reinforcement learning (RL) enjoys several benefits, such as data-efficiency and planning, by learning a model of the environment's dynamics. However, learning a global model that can generalize across different dynamics is a…

Self-supervised learning is an effective way for label-free model pre-training, especially in the video domain where labeling is expensive. Existing self-supervised works in the video domain use varying experimental setups to demonstrate…

Pretraining with expert demonstrations have been found useful in speeding up the training process of deep reinforcement learning algorithms since less online simulation data is required. Some people use supervised learning to speed up the…

Reinforcement learning (RL) makes it possible to train agents capable of achieving sophisticated goals in complex and uncertain environments. A key difficulty in reinforcement learning is specifying a reward function for the agent to…

Learning good representations of historical contexts is one of the core challenges of reinforcement learning (RL) in partially observable environments. While self-predictive auxiliary tasks have been shown to improve performance in fully…

The performance of reinforcement learning (RL) algorithms is sensitive to the choice of hyperparameters, with the learning rate being particularly influential. RL algorithms fail to reach convergence or demand an extensive number of samples…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

In visual Reinforcement Learning (RL), upstream representation learning largely determines the effect of downstream policy learning. Employing auxiliary tasks allows the agent to enhance visual representation in a targeted manner, thereby…

Offline reinforcement learning (RL) enables policy optimization using static datasets, avoiding the risks and costs of extensive real-world exploration. However, it struggles with suboptimal offline behaviors and inaccurate value estimation…