相关论文: Focused Skill Discovery: Learning to Control Speci…

Skills or low-level policies in reinforcement learning are temporally extended actions that can speed up learning and enable complex behaviours. Recent work in offline reinforcement learning and imitation learning has proposed several…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

Learning diverse skills without hand-crafted reward functions could accelerate reinforcement learning in downstream tasks. However, existing skill discovery methods focus solely on maximizing the diversity of skills without considering…

The success of Reinforcement Learning (RL) heavily relies on the ability to learn robust representations from the observations of the environment. In most cases, the representations learned purely by the reinforcement learning loss can…

Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign settings, such failures can be overcome by retrying or executing…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

A persistent skill library allows language model agents to reuse successful strategies across tasks. Maintaining such a library requires three coupled capabilities. The agent selects a relevant skill, utilizes it during execution, and…

The ability to perform different skills can encourage agents to explore. In this work, we aim to construct a set of diverse skills which uniformly cover the state space. We propose a formalization of this search for diverse skills, building…

As deep reinforcement learning driven by visual perception becomes more widely used there is a growing need to better understand and probe the learned agents. Understanding the decision making process and its relationship to visual inputs…

Unsupervised skill discovery drives intelligent agents to explore the unknown environment without task-specific reward signal, and the agents acquire various skills which may be useful when the agents adapt to new tasks. In this paper, we…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Pre-trained language models can be fine-tuned to solve diverse NLP tasks, including in few-shot settings. Thus fine-tuning allows the model to quickly pick up task-specific ``skills,'' but there has been limited study of where these…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major…

Skill discovery methods enable agents to learn diverse emergent behaviors without explicit rewards. To make learned skills useful for unknown downstream tasks, obtaining a semantically diverse repertoire of skills is essential. While some…

Unsupervised skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodic nature of learned skills, focusing instead on increasing…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Reinforcement learning is a proven technique for an agent to learn a task. However, when learning a task using reinforcement learning, the agent cannot distinguish the characteristics of the environment from those of the task. This makes it…

The ability to effectively reuse prior knowledge is a key requirement when building general and flexible Reinforcement Learning (RL) agents. Skill reuse is one of the most common approaches, but current methods have considerable…