相关论文: Offline Policy Learning via Skill-step Abstraction…

Learning agile humanoid behaviors from human motion offers a powerful route to natural, coordinated control, but existing approaches face a persistent trade-off: reference-tracking policies are often brittle outside the demonstration…

Automatic data abstraction is an important capability for both benchmarking machine intelligence and supporting summarization applications. In the former one asks whether a machine can `understand' enough about the meaning of input data to…

Offline reinforcement learning (RL) looks at learning how to optimally solve tasks using a fixed dataset of interactions from the environment. Many off-policy algorithms developed for online learning struggle in the offline setting as they…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

This paper proposes a receding horizon active learning and control problem for dynamical systems in which Gaussian Processes (GPs) are utilized to model the system dynamics. The active learning objective in the optimization problem is…

Off-policy learning refers to the problem of learning the value function of a way of behaving, or policy, while following a different policy. Gradient-based off-policy learning algorithms, such as GTD and TDC/GQ, converge even when using…

Offline reinforcement learning is used to train policies in scenarios where real-time access to the environment is expensive or impossible. As a natural consequence of these harsh conditions, an agent may lack the resources to fully observe…

In the framework of Markov Decision Processes, off-policy learning, that is the problem of learning a linear approximation of the value function of some fixed policy from one trajectory possibly generated by some other policy. We briefly…

Off-policy learning is a framework for evaluating and optimizing policies without deploying them, from data collected by another policy. Real-world environments are typically non-stationary and the offline learned policies should adapt to…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Generative skill acquisition enables embodied agents to actively learn a scalable and evolving repertoire of control skills, crucial for the advancement of large decision models. While prior approaches often rely on supervision signals from…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Reinforcement learning can train policies that effectively perform complex tasks. However for long-horizon tasks, the performance of these methods degrades with horizon, often necessitating reasoning over and chaining lower-level skills.…

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…

Compositional generalization is essential for reaching unseen goals under novel contextual variations in offline goal-conditioned reinforcement learning (GCRL), where a generalist goal-reaching agent must be learned from limited data. Most…

Offline reinforcement learning (RL) enables policy learning from static data but often suffers from poor coverage of the state-action space and distributional shift problems. This problem can be addressed by allowing limited online…

Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-GoalNet, a framework that generates task-specific policy…

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…

Offline meta-reinforcement learning (meta-RL) methods, which adapt to unseen target tasks with prior experience, are essential in robot control tasks. Current methods typically utilize task contexts and skills as prior experience, where…

Distribution shift is a major obstacle in offline reinforcement learning, which necessitates minimizing the discrepancy between the learned policy and the behavior policy to avoid overestimating rare or unseen actions. Previous conservative…