相关论文: SkiLD: Unsupervised Skill Discovery Guided by Fact…

Reinforcement learning (RL) has been widely used to train LLM agents for multi-turn interactive tasks, but its sample efficiency is severely limited by sparse rewards and long horizons. On-policy self-distillation (OPSD) alleviates this by…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

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…

Biological intelligence can learn to solve many diverse tasks in a data efficient manner by re-using basic knowledge and skills from one task to another. Furthermore, many of such skills are acquired without explicit supervision in an…

Training large language model (LLM) agents to acquire necessary skills and perform diverse tasks within an environment is gaining interest as a means to enable open-endedness. However, creating the training dataset for their skill…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

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…

Deep Reinforcement Learning (RL) has emerged as a powerful paradigm for training neural policies to solve complex control tasks. However, these policies tend to be overfit to the exact specifications of the task and environment they were…

Exploration in environments with sparse rewards remains a fundamental challenge in reinforcement learning (RL). Existing approaches such as curriculum learning and Go-Explore often rely on hand-crafted heuristics, while curiosity-driven…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

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…

A parameterized skill is a mapping from multiple goals/task parameters to the policy parameters to accomplish them. Existing works in the literature show how a parameterized skill can be learned given a task space that defines all the…

Understanding physical phenomena is a key component of human intelligence and enables physical interaction with previously unseen environments. In this paper, we study how an artificial agent can autonomously acquire this intuition through…

Human players in professional team sports achieve high level coordination by dynamically choosing complementary skills and executing primitive actions to perform these skills. As a step toward creating intelligent agents with this…

In real-world environments, autonomous agents rely on their egocentric observations. They must learn adaptive strategies to interact with others who possess mixed motivations, discernible only through visible cues. Several Multi-Agent…

Self-supervised representation learning has achieved remarkable success in recent years. By subverting the need for supervised labels, such approaches are able to utilize the numerous unlabeled images that exist on the Internet and in…

Recent works have proven that intricate cooperative behaviors can emerge in agents trained using meta reinforcement learning on open ended task distributions using self-play. While the results are impressive, we argue that self-play and…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

Unsupervised learning is a discipline of machine learning which aims at discovering patterns in big data sets or classifying the data into several categories without being trained explicitly. We show that unsupervised learning techniques…

Key challenges for the deployment of reinforcement learning (RL) agents in the real world are the discovery, representation and reuse of skills in the absence of a reward function. To this end, we propose a novel approach to learn a…