相关论文: Goal-Oriented Skill Abstraction for Offline Multi-…

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 consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Skill-augmented agents increasingly rely on large reusable skill libraries, but retrieving relevant skills is not the same as presenting usable context. Existing methods typically return atomic skills or dependency-aware bundles whose…

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…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

Reinforcement Learning has received wide interest due to its success in competitive games. Yet, its adoption in everyday applications is limited (e.g. industrial, home, healthcare, etc.). In this paper, we address this limitation by…

Offline goal-conditioned reinforcement learning (GCRL) aims at solving goal-reaching tasks with sparse rewards from an offline dataset. While prior work has demonstrated various approaches for agents to learn near-optimal policies, these…

This paper presents a novel approach to generalizing robot manipulation skills by combining a sampling-based task-and-motion planner with an offline reinforcement learning algorithm. Starting with a small library of scripted primitive…

Reinforcement learning (RL) with diverse offline datasets can have the advantage of leveraging the relation of multiple tasks and the common skills learned across those tasks, hence allowing us to deal with real-world complex problems…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Reinforcement learning has been applied to a wide variety of robotics problems, but most of such applications involve collecting data from scratch for each new task. Since the amount of robot data we can collect for any single task is…

Most reinforcement learning (RL) methods focus on learning optimal policies over low-level action spaces. While these methods can perform well in their training environments, they lack the flexibility to transfer to new tasks. Instead, RL…

Skills are temporal abstractions that are intended to improve reinforcement learning (RL) performance through hierarchical RL. Despite our intuition about the properties of an environment that make skills useful, a precise characterization…

Skills are effective temporal abstractions established for sequential decision making, which enable efficient hierarchical learning for long-horizon tasks and facilitate multi-task learning through their transferability. Despite extensive…

Markov Decision Processes (MDPs) often exhibit significant redundancy due to symmetries and shared structure across state-goal pairs in real-world Goal-Conditioned Reinforcement Learning (GCRL). While hierarchical policies have been…

Skill-based reinforcement learning (RL) approaches have shown considerable promise, especially in solving long-horizon tasks via hierarchical structures. These skills, learned task-agnostically from offline datasets, can accelerate the…

Offline goal-conditioned reinforcement learning (GCRL) promises general-purpose skill learning in the form of reaching diverse goals from purely offline datasets. We propose $\textbf{Go}$al-conditioned $f$-$\textbf{A}$dvantage…

Large language models (LLMs) are moving beyond static uses and are now powering agents that learn continually during their interaction with external environments. For example, agents can learn reusable skills while navigating web pages or…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…