相关论文: Learning to Discover Skills through Guidance

We study diverse skill discovery in reward-free environments, aiming to discover all possible skills in simple grid-world environments where prior methods have struggled to succeed. This problem is formulated as mutual training of skills…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

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 skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodic nature of learned skills, focusing instead on increasing…

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…

Exploration is crucial for enabling legged robots to learn agile locomotion behaviors that can overcome diverse obstacles. However, such exploration is inherently challenging, and we often rely on extensive reward engineering, expert…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Autonomous skill discovery aims to enable robots to acquire diverse behaviors without explicit supervision. Learning such behaviors directly on physical hardware remains challenging due to safety and data efficiency constraints. Existing…

Automating the development of machine learning algorithms has the potential to unlock new breakthroughs. However, our ability to improve and evaluate algorithm discovery systems has thus far been limited by existing task suites. They suffer…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…

We introduce Contrastive Intrinsic Control (CIC), an algorithm for unsupervised skill discovery that maximizes the mutual information between state-transitions and latent skill vectors. CIC utilizes contrastive learning between…

Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…

Reinforcement learning necessitates meticulous reward shaping by specialists to elicit target behaviors, while imitation learning relies on costly task-specific data. In contrast, unsupervised skill discovery can potentially reduce these…

Building a general-purpose intelligent home-assistant agent skilled in diverse tasks by human commands is a long-term blueprint of embodied AI research, which poses requirements on task planning, environment modeling, and object…

Recent advances in visual analytics have enabled us to learn from user interactions and uncover analytic goals. These innovations set the foundation for actively guiding users during data exploration. Providing such guidance will become…

Unsupervised landmarks discovery (ULD) for an object category is a challenging computer vision problem. In pursuit of developing a robust ULD framework, we explore the potential of a recent paradigm of self-supervised learning algorithms,…

Unsupervised skill discovery aims to acquire behavior primitives that improve exploration and accelerate downstream task learning. However, existing approaches often ignore the geometric symmetries of physical environments, leading to…

In this paper, an adaptive cooperative guidance strategy for the active protection of a target spacecraft trying to evade an interceptor was developed. The target spacecraft performs evasive maneuvers, launching an active defense vehicle to…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Unsupervised machine learning is widely used to mine large, unlabeled datasets to make data-driven discoveries in critical domains such as climate science, biomedicine, astronomy, chemistry, and more. However, despite its widespread…