相关论文: Unsupervised Hierarchical Skill Discovery

Pre-training Reinforcement Learning agents in a task-agnostic manner has shown promising results. However, previous works still struggle in learning and discovering meaningful skills in high-dimensional state-spaces, such as pixel-spaces.…

We present a system for bottom-up cumulative learning of myriad concepts corresponding to meaningful character strings, and their part-related and prediction edges. The learning is self-supervised in that the concepts discovered are used as…

In reinforcement learning, pre-trained low-level skills have the potential to greatly facilitate exploration. However, prior knowledge of the downstream task is required to strike the right balance between generality (fine-grained control)…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

How can a reinforcement learning (RL) agent prepare to solve downstream tasks if those tasks are not known a priori? One approach is unsupervised skill discovery, a class of algorithms that learn a set of policies without access to a reward…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

A hallmark of intelligent agents is the ability to learn reusable skills purely from unsupervised interaction with the environment. However, existing unsupervised skill discovery methods often learn entangled skills where one skill variable…

Unsupervised Reinforcement Learning (RL) aims to discover diverse behaviors that can accelerate the learning of downstream tasks. Previous methods typically focus on entropy-based exploration or empowerment-driven skill learning. However,…

We address the problem of discovering part segmentations of articulated objects without supervision. In contrast to keypoints, part segmentations provide information about part localizations on the level of individual pixels. Capturing both…

Learning skills in open-world environments is essential for developing agents capable of handling a variety of tasks by combining basic skills. Online demonstration videos are typically long but unsegmented, making them difficult to segment…

Hierarchical reinforcement learning methods offer a powerful means of planning flexible behavior in complicated domains. However, learning an appropriate hierarchical decomposition of a domain into subtasks remains a substantial challenge.…

Unsupervised Reinforcement Learning (RL) provides a promising paradigm for learning useful behaviors via reward-free per-training. Existing methods for unsupervised RL mainly conduct empowerment-driven skill discovery or entropy-based…

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically,…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

This paper focuses on task recognition and action segmentation in weakly-labeled instructional videos, where only the ordered sequence of video-level actions is available during training. We propose a two-stream framework, which exploits…

Sequence models in reinforcement learning require task knowledge to estimate the task policy. This paper presents a hierarchical algorithm for learning a sequence model from demonstrations. The high-level mechanism guides the low-level…

Much effort has been devoted to evaluate whether multi-task learning can be leveraged to learn rich representations that can be used in various Natural Language Processing (NLP) down-stream applications. However, there is still a lack of…

Reinforcement learning provides a general framework for learning robotic skills while minimizing engineering effort. However, most reinforcement learning algorithms assume that a well-designed reward function is provided, and learn a single…

Unsupervised semantic segmentation aims to discover groupings within and across images that capture object and view-invariance of a category without external supervision. Grouping naturally has levels of granularity, creating ambiguity in…