相关论文: Goal-Space Planning with Subgoal Models

This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…

In this work we propose a planning and acting architecture endowed with a module which learns to select subgoals with Deep Q-Learning. This allows us to decrease the load of a planner when faced with scenarios with real-time restrictions.…

We introduce Dynamic Planning Networks (DPN), a novel architecture for deep reinforcement learning, that combines model-based and model-free aspects for online planning. Our architecture learns to dynamically construct plans using a learned…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

Reinforcement learning is a promising paradigm for solving sequential decision-making problems, but low data efficiency and weak generalization across tasks are bottlenecks in real-world applications. Model-based meta reinforcement learning…

Model-Based Reinforcement Learning involves learning a \textit{dynamics model} from data, and then using this model to optimise behaviour, most often with an online \textit{planner}. Much of the recent research along these lines presents a…

Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…

In this work we propose a goal reasoning method which learns to select subgoals with Deep Q-Learning in order to decrease the load of a planner when faced with scenarios with tight time restrictions, such as online execution systems. We…

In this paper, we consider a transfer reinforcement learning problem involving agents with different action spaces. Specifically, for any new unseen task, the goal is to use a successful demonstration of this task by an expert agent in its…

We propose a hybrid approach aimed at improving the sample efficiency in goal-directed reinforcement learning. We do this via a two-step mechanism where firstly, we approximate a model from Model-Free reinforcement learning. Then, we…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

Dyna-style reinforcement learning is a powerful approach for problems where not much real data is available. The main idea is to supplement real trajectories, or sequences of sampled states over time, with simulated ones sampled from a…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

Reinforcement learning usually uses the feedback rewards of environmental to train agents. But the rewards in the actual environment are sparse, and even some environments will not rewards. Most of the current methods are difficult to get…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

The objective of lifelong reinforcement learning (RL) is to optimize agents which can continuously adapt and interact in changing environments. However, current RL approaches fail drastically when environments are non-stationary and…