相关论文: Exploration by Learning Diverse Skills through Suc…
Sampling-based motion planners have experienced much success due to their ability to efficiently and evenly explore the state space. However, for many tasks, it may be more efficient to not uniformly explore the state space, especially when…
While the recent advances in deep reinforcement learning have achieved impressive results in learning motor skills, many of the trained policies are only capable within a limited set of initial states. We propose a technique to break down a…
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 use of skills (a.k.a., options) can greatly accelerate exploration in reinforcement learning, especially when only sparse reward signals are available. While option discovery methods have been proposed for individual agents, in…
Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…
Exploration is essential in reinforcement learning, particularly in environments where external rewards are sparse. Here we focus on exploration with intrinsic rewards, where the agent transiently augments the external rewards with…
Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent's individual intelligence as well as by collaborating and exploiting collective intelligence. This article considers a group of…
We propose a novel approach for planning agents to compose abstract skills via observing and learning from historical interactions with the world. Our framework operates in a Markov state-space model via a set of actions under unknown…
Imitation learning is a central problem in reinforcement learning where the goal is to learn a policy that mimics the expert's behavior. In practice, it is often challenging to learn the expert policy from a limited number of demonstrations…
Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable…
A key question in reinforcement learning is how an intelligent agent can generalize knowledge across different inputs. By generalizing across different inputs, information learned for one input can be immediately reused for improving…
Tasks with large state space and sparse rewards present a longstanding challenge to reinforcement learning. In these tasks, an agent needs to explore the state space efficiently until it finds a reward. To deal with this problem, the…
Reinforcement learning has empowered large language models to act as intelligent agents, yet training them for long-horizon tasks remains challenging due to the scarcity of high-quality trajectories, especially under limited resources.…
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…
Exploring unknown environments efficiently is a fundamental challenge in unsupervised goal-conditioned reinforcement learning. While selecting exploratory goals at the frontier of previously explored states is an effective strategy, the…
Exploration is a key problem in reinforcement learning, since agents can only learn from data they acquire in the environment. With that in mind, maintaining a population of agents is an attractive method, as it allows data be collected…
Exploration efficiency is a challenging problem in multi-agent reinforcement learning (MARL), as the policy learned by confederate MARL depends on the collaborative approach among multiple agents. Another important problem is the less…
Efficient exploration remains a challenging problem in reinforcement learning, especially for tasks where extrinsic rewards from environments are sparse or even totally disregarded. Significant advances based on intrinsic motivation show…
Sparse reward environments are known to be challenging for reinforcement learning agents. In such environments, efficient and scalable exploration is crucial. Exploration is a means by which an agent gains information about the environment.…
Non-uniform goal selection has the potential to improve the reinforcement learning (RL) of skills over uniform-random selection. In this paper, we introduce a method for learning a goal-selection policy in intrinsically-motivated…