相关论文: Goal-conditioned Offline Planning from Curious Exp…

What is a good exploration strategy for an agent that interacts with an environment in the absence of external rewards? Ideally, we would like to get a policy driving towards a uniform state-action visitation (highly exploring) in a minimum…

Offline goal-conditioned reinforcement learning (GCRL) is a practical reinforcement learning paradigm that aims to learn goal-conditioned policies from reward-free offline data. Despite recent advances in hierarchical architectures such as…

Learning in sparse reward settings remains a challenge in Reinforcement Learning, which is often addressed by using intrinsic rewards. One promising strategy is inspired by human curiosity, requiring the agent to learn to predict the…

The process of discovery requires active exploration -- the act of collecting new and informative data. However, efficient autonomous exploration remains a major unsolved problem. The dominant paradigm addresses this challenge by using…

Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a local planner. These systems are sensitive to global path…

Offline reinforcement learning (RL) aims to learn an optimal policy from pre-collected and labeled datasets, which eliminates the time-consuming data collection in online RL. However, offline RL still bears a large burden of…

Exploration strategies in continuous action space are often heuristic due to the infinite actions, and these kinds of methods cannot derive a general conclusion. In prior work, it has been shown that policy-based exploration is beneficial…

In goal-conditioned offline reinforcement learning, an agent learns from previously collected data to go to an arbitrary goal. Since the offline data only contains a finite number of trajectories, a main challenge is how to generate more…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

While offline reinforcement learning provides reliable policies for real-world deployment, its inherent pessimism severely restricts an agent's ability to explore and collect novel data online. Drawing inspiration from safe reinforcement…

Goal-conditioned Reinforcement Learning (RL) aims at learning optimal policies, given goals encoded in special command inputs. Here we study goal-conditioned neural nets (NNs) that learn to generate deep NN policies in form of…

Learning complex robot behaviors through interaction requires structured exploration. Planning should target interactions with the potential to optimize long-term performance, while only reducing uncertainty where conducive to this…

We consider the problem of reinforcement learning under safety requirements, in which an agent is trained to complete a given task, typically formalized as the maximization of a reward signal over time, while concurrently avoiding…

This paper introduces a novel combination of scheduling control on a flexible robot manufacturing cell with curiosity based reinforcement learning. Reinforcement learning has proved to be highly successful in solving tasks like robotics and…

We study the problem of offline policy optimization in stochastic contextual bandit problems, where the goal is to learn a near-optimal policy based on a dataset of decision data collected by a suboptimal behavior policy. Rather than making…

Goal-conditioned (GC) policy learning often faces a challenge arising from the sparsity of rewards, when confronting long-horizon goals. To address the challenge, we explore skill-based GC policy learning in offline settings, where skills…

We show that goal-directed action planning and generation in a teleological framework can be formulated using the free energy principle. The proposed model, which is built on a variational recurrent neural network model, is characterized by…

Gradient-based methods enable efficient search capabilities in high dimensions. However, in order to apply them effectively in offline optimization paradigms such as offline Reinforcement Learning (RL) or Imitation Learning (IL), we require…

We present a novel two-layer hierarchical reinforcement learning approach equipped with a Goals Relational Graph (GRG) for tackling the partially observable goal-driven task, such as goal-driven visual navigation. Our GRG captures the…

In order to compute near-optimal policies with policy-gradient algorithms, it is common in practice to include intrinsic exploration terms in the learning objective. Although the effectiveness of these terms is usually justified by an…