相关论文: ComSD: Balancing Behavioral Quality and Diversity …

Unsupervised skill discovery is a learning paradigm that aims to acquire diverse behaviors without explicit rewards. However, it faces challenges in learning complex behaviors and often leads to learning unsafe or undesirable behaviors. For…

Mutual information-based reinforcement learning (RL) has been proposed as a promising framework for retrieving complex skills autonomously without a task-oriented reward function through mutual information (MI) maximization or variational…

Pre-training Reinforcement Learning agents in a task-agnostic manner has shown promising results. However, previous works still struggle in learning and discovering meaningful skills in high-dimensional state-spaces, such as pixel-spaces.…

Unsupervised reinforcement learning (RL) studies how to leverage environment statistics to learn useful behaviors without the cost of reward engineering. However, a central challenge in unsupervised RL is to extract behaviors that…

Unsupervised reinforcement learning (URL) aims to pre-train agents by exploring diverse states or skills in reward-free environments, facilitating efficient adaptation to downstream tasks. As the agent cannot access extrinsic rewards during…

Unsupervised reinforcement learning (URL) poses a promising paradigm to learn useful behaviors in a task-agnostic environment without the guidance of extrinsic rewards to facilitate the fast adaptation of various downstream tasks. Previous…

Finding different solutions to the same problem is a key aspect of intelligence associated with creativity and adaptation to novel situations. In reinforcement learning, a set of diverse policies can be useful for exploration, transfer,…

The learning efficiency and generalization ability of an intelligent agent can be greatly improved by utilizing a useful set of skills. However, the design of robot skills can often be intractable in real-world applications due to the…

Autonomously learning diverse behaviors without an extrinsic reward signal has been a problem of interest in reinforcement learning. However, the nature of learning in such mechanisms is unconstrained, often resulting in the accumulation of…

Intelligent creatures can explore their environments and learn useful skills without supervision. In this paper, we propose DIAYN ('Diversity is All You Need'), a method for learning useful skills without a reward function. Our proposed…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

In principle, meta-reinforcement learning algorithms leverage experience across many tasks to learn fast reinforcement learning (RL) strategies that transfer to similar tasks. However, current meta-RL approaches rely on manually-defined…

Learning natural and diverse behaviors from human motion datasets remains challenging in physics-based character control. Existing conditional adversarial models often suffer from tight and biased embedding distributions where embeddings…

Quality-Diversity optimization is a new family of optimization algorithms that, instead of searching for a single optimal solution to solving a task, searches for a large collection of solutions that all solve the task in a different way.…

Unsupervised skill learning objectives (Gregor et al., 2016, Eysenbach et al., 2018) allow agents to learn rich repertoires of behavior in the absence of extrinsic rewards. They work by simultaneously training a policy to produce…

The ability to perform different skills can encourage agents to explore. In this work, we aim to construct a set of diverse skills which uniformly cover the state space. We propose a formalization of this search for diverse skills, building…

Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck…

Self-training and contrastive learning have emerged as leading techniques for incorporating unlabeled data, both under distribution shift (unsupervised domain adaptation) and when it is absent (semi-supervised learning). However, despite…

Self-supervised contrastive learning is a powerful tool to learn visual representation without labels. Prior work has primarily focused on evaluating the recognition accuracy of various pre-training algorithms, but has overlooked other…

Skills or low-level policies in reinforcement learning are temporally extended actions that can speed up learning and enable complex behaviours. Recent work in offline reinforcement learning and imitation learning has proposed several…