相关论文: Unsupervised Hierarchical Skill Discovery

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…

We propose a hierarchical reinforcement learning method, HIDIO, that can learn task-agnostic options in a self-supervised manner while jointly learning to utilize them to solve sparse-reward tasks. Unlike current hierarchical RL approaches…

We present HiDe, a novel hierarchical reinforcement learning architecture that successfully solves long horizon control tasks and generalizes to unseen test scenarios. Functional decomposition between planning and low-level control is…

In this paper we study the problem of learning multi-step dynamics prediction models (jumpy models) from unlabeled experience and their utility for fast inference of (high-level) plans in downstream tasks. In particular we propose to learn…

Traditionally, reinforcement learning methods predict the next action based on the current state. However, in many situations, directly applying actions to control systems or robots is dangerous and may lead to unexpected behaviors because…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…

Goal-conditioned hierarchical reinforcement learning (HRL) has shown promising results for solving complex and long-horizon RL tasks. However, the action space of high-level policy in the goal-conditioned HRL is often large, so it results…

Hierarchical abstractions are a methodology for solving large-scale graph problems in various disciplines. Coarsening is one such approach: it generates a pyramid of graphs whereby the one in the next level is a structural summary of the…

Learning meaningful behaviors in the absence of reward is a difficult problem in reinforcement learning. A desirable and challenging unsupervised objective is to learn a set of diverse skills that provide a thorough coverage of the state…

Policy gradient methods hold great potential for solving complex continuous control tasks. Still, their training efficiency can be improved by exploiting structure within the optimization problem. Recent work indicates that supervised…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

Unsupervised reinforcement learning aims to acquire skills without prior goal representations, where an agent automatically explores an open-ended environment to represent goals and learn the goal-conditioned policy. However, this procedure…

Attempts of learning from hierarchical taxonomies in computer vision have been mostly focusing on image classification. Though ways of best harvesting learning improvements from hierarchies in classification are far from being solved, there…

Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…

In structured output learning, obtaining labelled data for real-world applications is usually costly, while unlabelled examples are available in abundance. Semi-supervised structured classification has been developed to handle large amounts…

Hierarchical Reinforcement Learning (HRL) agents often struggle with long-horizon visual planning due to their reliance on error-prone distance metrics. We propose Discrete Hierarchical Planning (DHP), a method that replaces continuous…

Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…

An important challenge in reinforcement learning is training agents that can solve a wide variety of tasks. If tasks depend on each other (e.g. needing to learn to walk before learning to run), curriculum learning can speed up learning by…

Learning-based grasping can afford real-time grasp motion planning of multi-fingered robotics hands thanks to its high computational efficiency. However, learning-based methods are required to explore large search spaces during the learning…