相关论文: Unsupervised Hierarchical Skill Discovery

We propose a lifelong learning system that has the ability to reuse and transfer knowledge from one task to another while efficiently retaining the previously learned knowledge-base. Knowledge is transferred by learning reusable skills to…

With the development of deep learning techniques, supervised learning has achieved performances surpassing those of humans. Researchers have designed numerous corresponding models for different data modalities, achieving excellent results…

Hierarchical text classification has many real-world applications. However, labeling a large number of documents is costly. In practice, we can use semi-supervised learning or weakly supervised learning (e.g., dataless classification) to…

Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…

This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…

Hierarchical reinforcement learning (HRL) improves the efficiency of long-horizon reinforcement-learning tasks with sparse rewards by decomposing the task into a hierarchy of subgoals. The main challenge of HRL is efficient discovery of the…

Safety-critical applications such as autonomous driving require robust 3D environment perception algorithms capable of handling diverse and ambiguous surroundings. The predictive performance of classification models is heavily influenced by…

What is a useful skill hierarchy for an autonomous agent? We propose an answer based on a graphical representation of how the interaction between an agent and its environment may unfold. Our approach uses modularity maximisation as a…

Learning policies for complex tasks that require multiple different skills is a major challenge in reinforcement learning (RL). It is also a requirement for its deployment in real-world scenarios. This paper proposes a novel framework for…

One of the key challenges in applying reinforcement learning to real-life problems is that the amount of train-and-error required to learn a good policy increases drastically as the task becomes complex. One potential solution to this…

We study how to effectively leverage expert feedback to learn sequential decision-making policies. We focus on problems with sparse rewards and long time horizons, which typically pose significant challenges in reinforcement learning. We…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

We propose a new fast fully unsupervised method to discover semantic patterns. Our algorithm is able to hierarchically find visual categories and produce a segmentation mask where previous methods fail. Through the modeling of what is a…

High-dimensional observations and complex real-world dynamics present major challenges in reinforcement learning for both function approximation and exploration. We address both of these challenges with two complementary techniques: First,…

In reinforcement learning, unsupervised skill discovery aims to learn diverse skills without extrinsic rewards. Previous methods discover skills by maximizing the mutual information (MI) between states and skills. However, such an MI…

We propose a novel hierarchical spatiotemporal vector quantization framework for unsupervised skeleton-based temporal action segmentation. We first introduce a hierarchical approach, which includes two consecutive levels of vector…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…

Hierarchical Reinforcement Learning algorithms have successfully been applied to temporal credit assignment problems with sparse reward signals. However, state-of-the-art algorithms require manual specification of sub-task structures, a…

In hierarchical text classification, we perform a sequence of inference steps to predict the category of a document from top to bottom of a given class taxonomy. Most of the studies have focused on developing novels neural network…